Exercise apparatus and technique

ABSTRACT

To provide controlled amounts of resistance to movement in exercise equipment or in orthotic devices, a control module has cooperating resistance elements. The force between the elements is varied in accordance with the position of the elements with respect to each other. For example the control module can connect two splints of a knee brace so that the resistance to flexion and extension are programmed in accordance with the position of the leg and thigh with respect to each other.

RELATED CASES

This application is a continuation-in-part of U.S. application Ser. No.08/494,528 filed Jun. 23, 1995, which is a continuation-in-part of U.S.application Ser. No. 08/271,022 filed Jul. 6, 1994, which is acontinuation-in-part of U.S. application Ser. No. 08/089,852 filed Jul.9, 1993 now U.S. Pat. No. 5,788,618, for EXERCISE APPARATUS ANDTECHNIQUE.

BACKGROUND OF THE INVENTION

This invention relates to apparatuses and methods for providingcontrolled exercise and support.

Braces for jointed anatomical limb segments such as the leg and thigh orthe arm and forearm are known. The braces have joints that permit motionof the limb segments, such as for example, motion of the leg withrespect to the thigh about the knee, the thigh and trunk about the hip,the arm and trunk about the shoulder and the forearm and arm about theelbow. Such braces may include stops to limit motion.

In one class of exercise equipment, provision is made to attach theexercise equipment to a brace-like structure or to a brace-likefastening means that is part of the equipment. This type of brace-likeequipment attaches to the limb segments to permit exercise of the bracedpart, such as for example, to permit or limit exercise of the leg andthigh about the knee or the arm and forearm about the elbow.

Prior art exercise techniques are conventionally classified asisometric, isotonic, and isokinetic. An additional fourth classificationhas become recently recognized and called individualized dynamicvariable resistance. All of these techniques except isometric utilizemotion of the limb for strengthening or treating an injured muscle andall of the techniques have corresponding exercise equipment associatedwith them.

One type of prior art isokinetic technique and corresponding exerciseequipment is machine operated. The patient moves and flexes a jointthrough a predetermined range under motor control that resists movementby the patient with a force that maintains the speed of movement of thepatient at a preset speed. This type of equipment has the disadvantageof being expensive, and under some circumstances, of not providing acontrolled level of muscular exertion appropriate for the position ofthe parts being exercised since it is stationed on a fixed surface suchas the floor.

Isotonic exercise equipment includes weights and a mechanism forapplying the weights to the anatomical segment so that the patientexerts effort against the weights. This type of prior art exerciseequipment has the disadvantages of: (1) continuously providingresistance of the same amount regardless of the position of the limbbeing exercised; (2) continuance of the force when the patient stopsmoving if the weight is elevated; and (3) being only uni-directional ina concentric (shortening muscle) sense.

A newer type of prior art exercise equipment and technique involvingmotion is individualized dynamic variable resistance. This equipmentmeasures a limb's strength ability isokinetically to establish a motorperformance curve. This curve is a relationship between degrees and therange of motion and resistance to that motion. During exercising, theresistance is provided over a distance corresponding to the range ofmotion as a fixed percentage of the maximum established by that curve.The curve is followed but at a preset level such as one-fourth of itsmaximum value.

In the equipment using this technique, the curve is measured andrecorded and then during exercise, a feedback mechanism senses theposition and obtains a signal corresponding to the proportion ofresistance corresponding to that position. This signal controls theamount of force applied through a magnetic particle brake attached tothe limb. Equipment utilizing this technique is disclosed in U.S. Pat.No. 4,869,497 granted Sep. 26, 1989.

This technique has several disadvantages under certain circumstances,such as: (1) continuing a resistive force after motion has stopped; (2)being adaptable only to open kinetic chain exercise; (3) being dependentto some extent on controlled speed of movement to provide theappropriate resistance; (4) the equipment is fixed to a particularlocality when in use, as well as to the patient; (5) the equipment isbulky and cannot be easily moved from place to place; and (6) the usermay inadvertently use other muscles to change the exercise patternbecause the muscle cannot be easily isolated with equipment mounted toequipment on which the patient sits or stands or to the ground since thepatient may be able to exert leverage with another part of the body.This technique also has the disadvantage of being too inflexible and notaccommodating resistance programs developed for specific purposes; suchas to strengthen fast twitch or slow twitch muscles individually or fora program prescribed to accommodate a particular limb position fordevelopment of particular muscles in a manner deviating from the motorperformance curve.

SUMMARY OF THE INVENTION

It is an object of the invention to provide a novel exercise mechanismand technique.

It is a further object of the invention to provide an exercise devicethat may be attached to exsisting braces or specific designed exercisebraces, such as lower extremity braces or upper extremity braces andprovide for controlled exercise of the person wearing the brace.

It is a further object of the invention to provide an inexpensive andeasily applied technique for providing controlled resistance therapy forpersons with injured extremities or joints or possibly other body parts.

It is a still further object of the invention to provide a novelexercise device and technique that provides resistance to movement thatis related in a precontrolled manner to the position of the part beingexercised.

It is a still further object of the invention to provide a noveltechnique and apparatus to aid users in moving through an appropriaterange of motion.

It is a still further object of the invention to provide a novelapparatus and technique for reducing pain during movement.

It is a still further object of the invention to provide a novelapparatus and method for maintaining proper joint alignment duringmovement.

It is a still further object of the invention to provide a novelapparatus and method for reducing arthrokinetic joint movementdysfunction.

It is a still further object of the invention to provide an exercisedevice and technique that provides resistance to movement that isrelated in a pre-programmed manner to the position of the part beingexercised but is applied independently of speed.

It is a still further object of the invention to provide a novelexercise device and technique that permits tailored exercise programsfor a wide variety of purposes, such as to strengthen principally thefast twitch muscle or the slow twitch muscle or to strengthen onlycertain portions of an injured muscle.

It is a still further object of the invention to provid a novel exercisedevice and technique utilizing motion in which the user can vary thespeed along a resistance program which provides resistance to movementrelated to position.

It is a still further object of the invention to provide a novelexercise technique and apparatus which does not provide a force when theperson doing the exercise stops attempting to move but which isnonetheless independent of speed of motion by the person doing theexercising.

It is a still further object of the invention to provide a novelexercise technique and device that permits particular muscles to beisolated since it is only attached to the patient and not to an objectupon which the patient is sitting or standing.

It is a still further object of the invention to provide a novelexercise device that is coupled to images or other sensed programs sothat the user can correlate muscle activity with sensed events.

It is a still further object of the invention to provide a device andmethod that enables equipment such as ski boots or the like to haveuseful amounts of motion with resistance to movement in controlleddirections so as to be less likely to cause injury.

It is a still further object of the invention to provide a novelexercise device and technique in which the resistance to movement isrelated in a manner programmed by a therapist to correspond to theposition of the part being exercised but not necessarily proportional toan average motor performance curve throughout the range of motion butinstead constructed for specific purposes.

It is a still further object of the invention to provide a versatileexercise device that can be conveniently applied to either open kineticchain exercise or closed kinetic chain exercise.

It is a still further object of the invention to provide a technique andequipment for combining resistance to movement that is related in aprecontrolled manner to the position of the part being moved withelectrical muscle stimulation to aid movement or prevent undesiredmovement.

It is a still further object of the invention to provide an exercisedevice and technique that provides resistance to movement that isrelated in a pre-programmed manner to the position of the part beingmoved and/or provides electrical muscle stimulation at least partlycontrolled by electrical myography (EMG) and/or other biofeedbackmeasurement (e.g. force plate).

It is a still further object of the invention to provide a technique andapparatus for reducing patellofemoral discomfort and to improve mobilityof persons suffering from patellofemoral pain.

In accordance with the above and further objects of the invention, oneembodiment of exercise device is part of or may be attached to a bracefor a body part. It may include means for fastening the exercise deviceto a limb brace or brace for another body part to control the amount offorce needed to flex or extend the braced extremity or limb or otherbody part about a joint. The means for fastening may include pads andmeans for adjusting the location of the pads to avoid irritation ordamage to the body such as irritation of burns. In a preferredembodiment, the means for controlling the amount of force includes oneor more frictional resistance members that are removably attachable to aconventional brace to provide a desired resisting force to movement.

The frictional resistance members may include either: (1) a mechanismthat releases for free movement in one direction and moves withresistance against force in the other direction; or (2) a mechanism thatprovides controlled variable or constant resistance in either or bothdirections. Adjustable stops or limit members to control the amount orrange of motion may be provided. The resisting force may be provided byforce members such as springs or motors or stretchable members orpneumatic cylinders or the like.

Friction members and pressure members that work together to providefrictional force against movement are used in the preferred embodimentbecause mechanisms that use friction to control the amount of resistanceto motion: (1) are relatively easy to adjust for different amounts ofresisting force; and (2) do not provide force except to resist motion ofthe exercised limb. One technique for adjusting the amount of resistanceis to adjust the pressure normal to frictional surfaces that move withrespect to each other. The resistance stops when motion or force appliedby the patient to cause motion stops and the exercise device does notmove or exert force except when providing a resisting force to motion bythe person using it.

In one embodiment, a knee brace or elbow brace includes first and secondsections connected at a pivot point. For one use, the first section isattachable to the leg (tibia and fibula) by a first connecting means andthe second section is connected to the thigh (femur) by a secondconnecting means. For another use, the first section is attachable tothe forearm (radius and ulna) by a first connecting means and the secondsection is connected to the arm (humerus) by a second connecting means.In either use, a first lever in the first section removably snaps ontothe first connecting means and a second lever in the second sectionremovably snaps onto the second connecting means, with the two leversbeing connected to a friction control module centered at the pivotpoint. The friction control module controls the amount of friction orresistance against which the first and second connecting means move.

In some embodiments, frictional members are moved with respect to eachother as the two levers move. The amount of friction is controlled: (1)in some embodiments, by mechanical means such as ratchets, ramps or thelike in accordance with the direction of movement and/or the position ofthe levers with respect to each other; (2) in other embodiments, amicroprocessor-controlled pressure device controls both a basic overallpressure or minimum pressure and variations in pressure to createvariations in resistance to motion in different directions of movement.An overall bias pressure may be established by a tightening mechanismthat applies normal pressure between two friction members.

In some embodiments, the friction members are level and flat disks, inothers the disks have contoured surfaces to provide different amounts offriction at different locations in the movement of the device. In stillother embodiments, the friction members are not disks but have othergeometric shapes with concentric spherical surfaces. The flexion andextension (or clockwise counter clockwise) friction members may be nextto each other in concentric rings, or on opposite sides of each other orone beneath the other or one inside the other.

In one embodiment, the frictional members are made to be easilyconnected to splints that are parts of existing commercial braces. Thefrictional members are housed in a control module that has leversextending from it. The levers are replaceably attached to the standardsplints of the braces.

With this arrangement, the control module may be attached to a brace bya person wearing the brace, used for exercise while the control moduleis attached to the brace and removed from the brace after exercisewithout removing the brace. However, the exercise device need not befixed to a brace but can be part of an exercise chair as a substitutefor other force devices or may be part of a larger exercise unit toprovide controlled resistance to movement of several joints in any ofseveral directions.

In still other embodiments, the friction may be provided by compressingfrictional plates together in accordance with a planned program, such asmagnetically or by rotatable screw drive means or hydraulic plungermeans or other means for varying the force between the friction plates.Programs may be mechanical, built into the control module or replaceablewithin a control module or may be electrical and recorded permanently orchangeably or be directed from outside the module.

The basic module can also be used in conjunction with or in coordinationwith or as part of other types of equipment such as for example: (1) skiboots or the like to provide a controlled amount of movement withresistance and thus avoid injury that might otherwise occur such as withan inflexible ski boot; (2) sensors to form visual or other sensoryimages while a person exercises, such as for example, images of terrainwhile someone is using exercise equipment simulating cross countryskiing; and (3) muscle stimulating equipment such as electrical musclestimulation, and electrical myographic measurement of tonic or phasicmuscle contractions for use in feedback systems to time electricalmuscle stimulation and/or change the resistance accordingly.

Similarly, orthotic systems may be equipped to provide overall orrelatively complete exercise environments or other simpler equipment nowequipped with weights to provide isotonic exercise may instead beequipped with control modules to provide controlled resistance inaccordance with the position of the anatomical segments being exercised.

To reduce pain and provide greater use of joints subject toarthrokinetic joint movement dysfunction, a programmed module providesresistance against the movement to the muscles opposing the movement ofa weaker muscle. In this specification, "arthrokinetic" dysfunctionmeans that ordinary movement of body portions about a joint result insymptomatic events such as pain and/or inflammation and/or movement in adirection at an angle to the desired movement. The resistance isprogrammed by the attending physician or physical therapist to provideresistance to the stronger opposing or antagonistic muscles to permitthe weaker muscles or agonistic muscles to function normally.

To permit support in movement such as walking by generally weakenedpersons such as older persons, a programmed module provides resistanceto movement in the direction of natural forces. For example, a personwho is unable to walk without an aide may have programmed modules placedon the knee joint that would prevent collapse of the knee throughresistance that would offset influence of gravity. The amount ofselected resistance is dependent on the strength of the muscle at thepositions or angles that resistance is applied. Resistance is usuallyprogrammed to increase as the patient's knee joints are bent more withor because of the force of gravity.

From the above description, it can be understood that the exercisedevice of this invention has several advantages, such as: (1) it canprovide controlled resistance to movement in either direction; (2) itmay be easily snapped onto existing braces to provide a controlledprogram of therapy without the need for expensive equipment; (3) it canprovide a controlled and contoured resistance which depends on theposition of the limb; (4) the controlled programs of resistance may betailored to the individual and controlled by inserts into the exerciser;(5) the resistance is independent of the speed of motion; (6) there isno force applied by the equipment to a user in the absence of an attemptto move and the force is only a force of reaction; and (7) it canfunction as a component in virtual reality, muscle stimulation,biofeedback equipment and systems for reducing ortho-kinetic jointmovement discord.

SUMMARY OF THE DRAWINGS

The above noted and other features of the invention will be betterunderstood from the following detailed description when considered withreference to the accompanying drawings, in which:

FIG. 1 is a fragmentary perspective view of an exercise assembly mountedto the thigh and leg of a person on a brace in accordance with anembodiment of the invention;

FIG. 2 is a perspective view, partly exploded, of the exercise assemblyof FIG. 1 mounted to a brace;

FIG. 3 is a fractional, plan view of a control module and fasteners forattacment of the control module to a brace in accordance with anembodiment of the invention;

FIG. 4 is an end view partly-sectioned of the fastener and brace of FIG.3;

FIG. 5 is an elevational view, partly exploded, of still anotherembodiment of the invention;

FIG. 6 is an exploded perspective view of the embodiment of FIG. 5,partly broken away and sectioned;

FIG. 7 is a plan view of a portion of the embodiment of FIG. 6;

FIG. 8 is a side view of the portion of the embodiments af FIGS. 5 and6, shown in the plan view of FIG. 7;

FIG. 9 is a plan view of another portion of the embobidment of FIGS. 5and 6;

FIG. 10 is a side view of the portion of the embodiment of FIGS. 5 and 6shown in FIG. 9;

FIG. 11 is a plan view of another portion of the embodiments of FIGS. 5and 6;

FIG. 12 is a side view of the portion of the embodiments of FIGS. 5 and6 shown in FIG. 11;

FIG. 13 is a plan view of still another portion of the embodiments ofFIGS. 5 and 6;

FIG. 14 is a side view of a portion of the embodiments of FIGS. 5 and 6shown in FIG. 13;

FIG. 15 is a plan view of still another portion of the embodiments ofFIGS. 5 and 6;

FIG. 16 is a side view of a portion of the embodiments of FIGS. 5 and 6shown in FIG. 15;

FIG. 17 is a fragmentary sectional view of a portion of the embodimentof FIGS. 5 and 6;

FEG. 18 is a partly exploded sectional view of still another embodimentof the invention;

FIG. 19 is an exploded perspective view of the embodiment of FIG. 18;

FIG. 20 is a plan view of a program disk used in the embodiment of FIG.18;

FIG. 21 is a side view of the program disk of FIG. 20;

FIG. 22 is a plan view of a lifter plate that is part of the embodimentof FIG. 18;

FIG. 23 is a side view of the lifter plate of FIG. 22;

FIG. 24 is a plan view of a lifter plate base of that used in theembodiment of FIG. 18;

FIG. 25 is a side view of the lifter plate of FIG. 24;

FIG. 26 is a sectional view of a portion of the plate of FIG. 24;

FIG. 27 is a rear elevational side view of the housing portion of theembodement of FIG. 18;

FIG. 28 is a right elevational side view of a housing of FIG. 27;

FIG. 29 is a plan view of the roller reader plate of the embodiment ofFIG. 18;

FIG. 30 is a side view of the plate of FIG. 28;

FIG. 31 is a side view of an adjustment nut used in the embodiment ofFIG. 18;

FIG. 32 is a plan view of an adjustment nut of FIG. 31;

FIG. 33 is a sectional view of bolts used in the embodiment of FIG. 18;

FIG. 34 is a rear elevational side view of a housing that is used in theembodiment of FIG. 18;

FIG. 35 is a right elevational side view of the housing of FIG. 34;

FIG. 36 is a fragmentary simplified perspective view of an embodiment ofbrace which includes an addition to the previous embodiment of FIGS.1-35;

FIG. 37 is a side view of a portion of the embodiment of FIG. 36;

FIG. 38 is a top view of a portion of the embodiment of FIG. 37;

FIG. 39 is a sectional view through lines 39--39 of FIG. 38;

FIG. 40 is a top view of a portion of the embodiment of FIG. 38;

FIG. 41 is a sectional view through lines 41--41 of FIG. 40.

FIG. 42 is a fragmentary exploded perspective view of still anotherembodiment of the invention;

FIG. 43 is a perspective view of a portion of the embodiment of FIG. 42;

FIG. 44 is a block diagram of a control system usable in the embodimentof FIG. 42;

FIG. 45 is a block diagram of a portion of the embodiment of FIG. 44;

FIG. 46 is a side view of another embodiment of lever arm;

FIG. 47 is a partly exploded end view through lines 47--47 of theembodiment of FIG. 46;

FIG. 48 is a side view of another lever that cooperates with the leverof FIG. 46;

FIG. 49 is perspective view of the lever arm of FIG. 48 looking in thedirection of lines 49--49 in FIG. 48;

FIG. 50 is a plan view of the lever arm of FIG. 46;

FIG. 51 is a plan view of the lever arm of FIG. 48;

FIG. 52 is a side view of a movable portion of the handle clamp of FIG.46;

FIG. 53 is a side view of the portion of the handle clamp of FIG. 52taken in the direction of lines 53--53;

FIG. 54 is a side view of a movable portion of the handle clamp of FIG.48;

FIG. 55 is a side view of the portion of handle clamp of FIG. 54 takenthrough lines 55--55;

FIG. 56 is perspective view of another embodiment of the inventionillustrating the use of the invention on an elbow;

FIG. 57 is an elevational view of a ski boot designed in accordance withan embodiment of the invention;

FIG. 58 is an elevational view of another embodiment of ski bootdesigned in accordance with an embodiment of the invention;

FIG. 59 is an elevational view of still another embodiment of ski bootdesigned in accordance with the invention.

FIG. 60 is a schematic, partly broken away elevational view of amultiple plane exercise device;

FIG. 61 is an elevational sectional view of a housing for a program unitforming a portion of the exercise device of FIG. 60;

FIG. 62 is an end end view of the housing of FIG. 61;

FIG. 63 is an elevational view of a portion of the control module usedin the embodiment of exercise device of FIG. 60;

FIG. 64 is an end view of a portion of the housing of the control moduleof FIG. 63;

FIG. 65 is a simplified end view of a portion of the exercise device ofFIG. 60 in an open receiving postion of a limb of an exerciser;

FIG. 66 is a fragmentary elevational view of an exerciser assembly usingthe multiple plane control unit of FIG. 63;

FIG. 67 is a schematic side view of still another embodiment of exercisedevice;

FIG. 68 is a front elevational view of the embodiment of exercise deviceof FIG. 67;

FIG. 69 is a simplified sectioned side view of an embodiment of a singleplane control module;

FIG. 70 is an end view of the control module of FIG. 69;

FIG. 71 is still another embodiment of exercise device using the controlmodule of FIGS. 69 and 70;

FIG. 72 is a front view of the exercise device of FIG. 71;

FIG. 73 is a top view of a set of exercise devices of the typeillustrated in FIGS. 71-72;

FIG. 74 is a perspective view of a knee brace showing an electricallycontrollable module for varying the resistance to movement of the legwith respect to the thigh;

FIG. 75 is a simplified, exploded perspective view of a portion of thecontrol module of FIG. 74;

FIG. 76 is a perspective view of another portion of the module of FIG.74;

FIG. 77 is a perspective view of an execise apparatus adapted for use ina wheel chair;

FIG. 78 is a perspective view of binding utilizing a controlledresistence support for use on snow boards;

FIG. 79 is a perspective view of a type of exercise apparatus;

FIG. 80 is a fragmentary exploded perspective view of a tibia supportuseful in an embodiment of the invention;

FIG. 81 is an elevational view of a portion of the tibia support FIG.80;

FIG. 82 is an elevational view of another portion of the tibia supportof FIG. 80;

FIG. 83 is an elevational view of still another portion of the tibiasupport of FIG. 80;

FIG. 84 is an elevational view of still another portion of the tibiasupport of FIG. 80;

FIG. 85 is an elevational view of still another portion of the tibiasupport of FIG. 80;

FIG. 86 is an elevational view of still another portion of the tibiasupport of FIG. 80;

FIG. 87 is a plan view of still another portion of the tibia support ofFIG. 80;

FIG. 88 is a fragmentary elevational view of a portion of a controlmodule shown attached to a brace illustrating the manner of attachment;

FIG. 89 is block diagram of a microprocessor controlled system useful inan embodiment of the invention;

FIG. 90 is a flow diagram useful in practicing the invention;

FIG. 91 is another flow diagram useful in practicing the invention;

FIG. 92 is still another flow diagram useful in practicing theinvention;

FIG. 93 is still another flow diagram useful in practicing theinvention;

FIG. 94 is still another flow diagram useful in practicing theinvention;

FIG. 95 is a perspective view showing another embodiment of theinvention;

FIG. 96 is a diagramatic sketch showing possible placement of electrodesfor use in an embodiment of the invention;

FIG. 97 is a simplified, exploded perspective view of still anotherembodiment of control module designed to be compact and provideresistance in only one direction;

FIG. 98 is a simplified fragmentary exploded perspective view of theembodiment of FIG. 97 from another angle;

FIG. 99 is a simplified fragmentary exploded perspective view of stillanother embodiment of a control module, designed to be compact and haveresistance in both directions; and

FIG. 100 is a simplified fragmentary exploded perspective view of theembodiment of FIG. 99 shown from another angle.

DETAILED DESCRIPTION

In FIG. 1, there is shown a fragmentary, perspective, partly-explodedview of an exercise assembly 10 mounted to a limb 12. The exerciseassembly 10 includes a limb brace portion 14 and first and secondexercise modules 16A and 16B, one on each side of the limb brace portion14 (only 16A being shown in FIG. 1). In the preferred embodiment, thelimb brace 14 is a standard brace that is not a part of the invention byitself except insofar as it cooperates with one or more removableexercise modules such as the exercise modules 16A and 16B.

The removable exercise modules 16A and 16B mount to the limb braceportion 14 which in this embodiment is a leg and thigh brace to controlthe resistance needed by limb 12 to move the brace portion 14 forlimited movement about a knee. In the preferred embodiment, theresistance to movement is provided by frictional resistance.

The limb brace 14 includes a first support means 20, a second supportmeans 22 and two pivotal joints 24A and 24B (Only 24A is shown in FIG.1), with the first support means being fastened to the thigh and thesecond support means being fastened to the leg of a person. Each of twosides (splints) of the first support means is connected to acorresponding one of the two sides of the second support means by adifferent one of the two pivotal joints 24A and 24B so as to be capableof limited movement under the of the knee muscles.

The exercise module 16A includes a control assembly 30A, a first leverassembly 32A and a second lever assembly 34A. The first and second leverassemblies 32A and 34A are fastened to the control assembly 30A onopposite sides thereof with the first lever assembly 32A being adaptedto be fastened to the first support means 20 to move with the thigh ofthe person and the second lever assembly being adapted to be fastened tothe second support means 22 to move with the leg of the person. Becausethe exercise modules 16A and 16B are essentially identical and the leverassemblies 32A and 34A are essentially identical, only the exercisemodule 16A and only the assembly 34A will be described herein.

The assembly 34A includes a first affixed member 33A, a second snap-onmember 35A, a first fastener 37A and a second fastener 39A. The affixedmember 33A is permanently attached to a portion of the control module30A and has an open portion adapted to receive a splint member of thelower support means 22 within a groove therein and the second snap-onportion 35A fits over the opposite side of the splint member with thefasteners 37A and 39A passing through both member 33A and 35A to holdthem together.

With this arrangement, the affixed members of the first and second leverassemblies may slide over corresponding portions of different ones ofthe support means 20 and 22 with the control module 30A overlying thejoint 24A. The snap-on portion such as 35A and its corresponding part onthe lever at 32A may then be slipped over the opposite side and fastenedby fasteners such as 37A and 39A to the affixed member 33A to hold thelever arms with corresponding portions of the support members 20 and 22.The fasteners 37A and 39A may be bolts, screws, snap-on pins or anyother suitable fastener.

The control assembly 30A includes force resistance members, such as forexample friction disks, not shown in FIG. 1, and a calibration dial 41in the embodiment of FIG. 1 which is setable to different amounts ofresistance. The lever assemblies 32A and 34A are fastened to differentmoving parts of the control assembly 30A and are movable with respect toeach other only with the programmed amount of force so that the exercisemodule 16A can control the force against which the knee is articulatedby the patient.

With this arrangement, the control assembly 30A controls the movement ofthe first and second lever assemblies which in turn control the amountof force required for the knee muscles of a person to move the leg withrespect to the thigh. The two control modules 16A and 16B can be easilysnapped into place on the brace and the patient is able to exercise byfollowing a convenient schedule. The amount of resistance in the controlmodule can be set by the attending doctor into the control module in amanner to be described hereinafter.

In FIG. 2, there is shown a perspective view of the exercise assembly 10with the limb brace portion and removable exercise modules 16A and 16Bexploded away to show a right leg brace having first and second pivotaljoints 24A and 24B substantially parallel to each other and adapted tobe positioned on opposite sides of a knee, each of which cooperates witha corresponding one of the exercise modules 16A and 16B. The pivotjoints 24A and 24B each connect a different one of two parallel thighsplint members 26A and 26B to a corresponding pair of leg splint members28A and 28B.

On the outside pivot point 24A, the control module 30A overlies thejoint, the first lever assembly 32A is fastened for movement with thethigh splint member 26A and the second lever assembly 34A is snappedonto the leg splint member 28A. The splint members are connectedtogether by a soft framework and straps that are buckled tightly aboutthe leg so that the splint members move respectively with the thigh andthe leg bones. The pivot points include, a positionable perforated plate27A (not shown in FIG. 2 that can be positioned with respect to a basehaving pins such as 29A (not being shown in FIG. 2) located in it to setthe maximum range of movement of the brace both in extension andflexion.

The brace itself is intended in normal use to control movement of thethigh to protect the anterior cruciate ligament against excessiverotation or extention. Periodically, the exercise assembly may besnapped in place and the muscle therapeutically exercised in accordancewith a controlled program. The program is established by the physicianor physical therapist, but the exercise program may be performed easilyby the patient several times a day in accordance with a prescribed plan.The amount of friction may be adjusted to differ with extension andflexion of the leg and a force profile may be programmed into the devicein some embodiments to conform to the desired required force forexercise. The program and friction, of course are set to be the same inthe two exercise modules 16A and 16B.

As shown in FIG. 2, the affixed member, such as 33A, of the lever 34Ahas a large opening to receive the splint members of many differentmodels of knee brace loosely. To provide a tight fit, the snap-onmembers 35A are made of different sizes and fit internally to the upperand lower portions of the affixed members, thus enabling a plasticsupport member to fill in the loose space and enable a standard exercisemodule to be used with a number of different braces.

In use, the control module 30A may be set to provide a programmed amountof resistance between the two lever arms 32A and 34A to provide aprogrammed amount of resistive force to movement during exercising. Toselect the programmed resistance, the control module 30A includes adirection-sensitive resistance-mode selector means which selects oneresistance program when the first and second levers are moved togethersuch as by the bending of the knee and another resistance program whenthe leg is extended causing the levers to move in the other direction.In the preferred embodiment, a direction-sensitive resistance-modeselector selects one resistive friction program when the levers move inone direction and a different resistive friction program when the leversmove in the opposite direction.

In some embodiments, the two exercise modules 16A and 16B are eachfastened to the brace and not to each other. The force on the oppositesides of the brace are equalized by the belts on the brace itself.However in other embodiments, the two modules may be connected by arigid member or the brace may include a rigid member to connect the twosides together to prevent unequal force on the two sides of the limbthat may cause harmful torsion and provide a tibia support beltdescribed hereinafter. Such a rigid member is arranged to snap intoopenings on the lever assembly 34A and 34B. Multiple connectors may beused is needed and connection may be made to the lever arms 32A and 32Bor to the brace itself.

In FIG. 3, there is shown the module 30 connected to one embodiment ofclamping members 32 and 34 and having a dial 31 for adjusting the forceresisting motion movably affixed to the center nut 74C (not shown inFIG. 3) so that the nuts may be tightened to establish a zero point andthe dial pointer 33 set to an indicia mark for zeroing. After thesesettings, motion of the nut to provide less pressure provides anindication on grade marks 33 with respect to the pointer of the amountof pressure or resistance that is to be applied.

In this embodiment, the clamping means 32A and 34A are identical andconsist of four apertures in each of the members 32A and 34A alignedwith four corresponding apertures in the braces. In FIG. 8, four ofthese apertures are 180-186 are shown closed by fasteners so as tofasten the clamping members 32 and 34 to the brace members and four areshown without such fasteners, but in actual use would also includefasteners such as the combinations of a bolt and nut.

In FIG. 4, there is shown a sectional view of a portion of a brace 22and an end of the clamping member 32A with aligned openings 188 and 190that receive fasteners to hold the portion of the brace 22 and clampingmember 32A together. The fasteners to hold the brace and clamping membertogether may be bolts and nuts, machine screws, spring biased plungersor any other type of device able to provide a quicker connection. Asbest shown in FIG. 4, the clamping members have a open portion in thebottom to fit conformingly around a portion of the brace.

In FIG. 5, there is shown another embodiment of control module 30Fhaving as its principal parts an adjustment nut 70F, program disks 62Fand 60F, inner and outer lifter plates 80F and 82F, a ramp 90F and innerand outer lever assemblies 32F and 34F respectively. These arepositioned in the order named about the shaft or bolt 74F in a mannersimilar to that described in the previous embodiments. A urethane disk300 is positioned between the recorders and the lifter plates and aleather disk 302 separates the outer and inner lever assemblies 32F and34F.

As better shown in FIG. 6, the adjustment nut 70F is threaded onto theshaft or bolt 74F to exert pressure on the other elements as a majoradjustment. A annular disk 304 is rotatable about and concentric withthe adjustment nut 70F, with both the adjustment nut and the dial 304having indicia on their top surface.

With this arrangement, the nut 70F may be tightened to its maximumextent and the dial 304 lifted to disengage downwardly extending posts308 equally spaced circumferentially along the periphery of the dial 304from a corresponding number of equally spaced circumferential apertures306 in the outer recorder 60F. While it is lifted, zero indicators canbe aligned and then, with the dial still engaging the recorder, the nutcan be loosened to a predeterimined adjustment force from the zeroposition. The markers between the dial and the nut now indicate thelooseness of the adjustment nut and thus the fixed amount of pressurebetween the program fricion disks and the recorders.

To provide programmed resistance to movement, the shaft or bolt 74F isfastened for rotation with the inner lever assembly 34F and includes acut-away portion forming a partly flattened member with an ellipticalcross section 310 at its uppermost end. The apertures in the innerrecorder disk and the polyurethane disk 300 are elliptical and engagethe corresponding elliptical section at the top of the shaft 74F formedby removing a section of the cylindrical shaft and thus move with theshaft and with the inner lever. The inner and outer recorders have uponthem different tapered surfaces to provide a different thickness and areotherwise free to move up and down on the shaft to prevent differentamounts of friction to surfaces which rotate against each other andunderlie these tapered sections.

To provide frictional movement either between the outer recorder 60F orthe inner recorder 62F which are locked together by fingers, the innerlever assembly 32F (FIG. 5) is mounted for rotation with the ramp member90F since it receives downwardly extending posts 310 in its openings 312and moves with respect to the inner lever assembly 34F (FIG. 6) becauseit is separated therefrom by a disk 312 in a manner similar to the priorembodiments. The handle ramp 90F includes a plurality ofcircumferentially spaced ramp members 91F, 93F, 95F, 97F, 99F, and 101Fpositioned to engage the inner and outer lifter plates 80F and 82F.These lifter plates have ramps on their bottom surfaces whichselectively engage the ramp 90F to either raise the inner or the outerlifter plate depending on the direction of the matching surfaces betweenthe bottom of the lifter plate 80F and the ramp plate 90F.

When the outer plate 80F is lifted in one direction, the polyurethanedisk 300 is pressed between it and the outer recorder 60F to createfriction as the lifter plate rotates with the outer assembly 32F.Similary, if the inner lifter plate is lifted, it presses on theurethane disk 312 further in and opposite to the inner program 62F sothat as the assemblies 32F and 34F move with respect to each othercarrying their respective ones of the lifter plate 80F and the innerrecorder 62F.

Thus, either the outer lifter plate 80F or the inner lifter plate 82F isengaged by the ramps on the ramp plate 90F to move it while the otherone does not move with respect to the polyurethane disk 300 and therespective one of the inner and outer program disk 60F and 62F whichmove with the lower handle 32F, being so constrained by the ellipticalcross section 310 at the top of the shaft or bolt 74F.

In FIG. 7, there is shown a plan view of the inner program disk orrecorder 62F showing the generally elliptical section 316 which isengaged at all times with the elliptical portion 310 (FIG. 6) of theshaft or bolt 74F (FIG. 6). Inwardly extending openings 318 serve toengage for movement the outer program disk or recorder 60F (FIG. 6) in amanner to be described hereinafter.

As best shown in FIG. 8, the inner program disk or recorder 62F includesraised portions and lowered portions such as those shown at 320F whichis raised and 322F which is lowered so that, as it rotates with respectto the inner lifter plate 82F (not shown in FIG. 8), the frictionalforce is varied so as to provide a controllable program which typicallystarts lower, increases to a peak and then is reduced. This program iseasily changeable and can be prepared at the option of the physicaltherapist for the appropriate exercise variation during extension of thelimb.

In FIG. 9, there is shown a plan view of the outer program ring 60Fhaving an annular ring like section with inwardly extending members 324adapted to engage the radially extending notches 318 (FIG. 7) in theinner program disk 62F (FIG. 7). With this arrangement, the outerprogram disk also rotates with the inner lever assembly 34F (FIG. 6)since it rotates with the inner program disk which rotates with the topof the shaft or bolt 74F.

As best shown in FIG. 10, the outer program disk or recorder 60F alsoincludes a contour surface having raised portions such as that shown at328 and lower portions such as shown at 330, which may differ as in theinner program disk by a few hundreths of an inch so as to vary pressurewhen the outer program disk is selected during flexion of a limb. Thelifter plates, ramps and inner and outer programs may be reversed sothat an inner program disk controls flexion and the outer programcontrols extension. Similarly, the programs need not be recorded on theupper surface but could be on the lower surface and could be on aconical surface that is moved upwardly or downwardly to engagecooperating members.

In FIG. 11, there is shown a plan view of an outer lifter plate 80Fwhich also has inwardly extending members that can be lifted free of theinner lifter plate in a manner to be described hereinafter. As bestshown in the elevational view of FIG. 12, the lifter plate includesramps such as ramps 352, 354, and 356 on its upper surface adapted toengage the ramp plate 90F (FIG. 15). On the bottom surface of the lifterplate, there are a plurality of raised nodes 360 adapted to engage theurethane disk 300. When the ramp plate 90F is rotated in one ofclockwise or counterclockwise direction, which in the preferrredembodiment is flexion, the outer lifter plate rides upwardly to permit:movement of the ramp plate 90F with respect to it. Thus, with onedirection of motion, friction and pressure is exerted on the urethanelayer 300 and in the other it is not.

In FIG. 13, there is shown a plan view of the inner lifter plate 82Fhaving an inner circular aperture 358 adapted to receive the shaft orbolt 74F and rotate with respect to it and on its outer surface havingopenings 360, 362 and 364 adapted to engage the inwardly extendingmembers 350, 352 and 356 so as to rotate the outer member unless theouter member has been lifted free from it.

A, best shown in FIG. 14, the inner lifter plate includes a plurality oframps 370, 372 and 374 extending upwardly to engage the handle ramp 90Fand a plurality of nodes 380, 382 and 384 extending downwardly to engagethe urethane disk 300. The nodes, during motion of the inner ring, exertpressure on the urethane layer 300 selectively to cause a predeterminedpressure. In the embodiment, of FIGS. 5-14, a single-planebi-directional variable range of motion preprogrammedvelocity-independent resistance is provided.

In FIG. 15, there is shown a plan view of the ramp disk 90F having acentral opening 370 to receive the shaft 74F (FIG. 6) and a plurality ofcircumferentially spaced ramps 91F, 93F, 95F, 97F, 99F and 101F in aninner circle and a plurality of ramps 103F, 105F, 107F, 109F, 111F and113F in an outer circle, with the ramps on an inner circle facing in theopposite direction as the ramps on the outer circle so that the ramps onthe outer circle lift the outer lift plate 80F and the ramps on theinner circle engage with ramps on the inner plate 82F. As best shown inFIG. 16, the handle ramp 90F is mounted to the outer handle 32F by aplurality of posts 370 and 372 being shown in FIG. 16. These postsengage similar openings circumferentially spaced in the outer handleassembly 32F so that the outer handle assembly and the ramp disk 90Fmove together.

With this arrangement, rotation of the handle and the ramp disk 90Ftogether in one direction will cause the ramps 97F to engage the innerlifter plate 82F and thus drive both the inner and the outer plate sincethey are interlocked together. However, it does not lift the inner platebut does lift the outer lifter plate since the outer lifter plate ridesupwardly on the outer ramps at the same time that the inner ramps areengaging drivingly.

In FIG. 17, there is shown in a sectional view of FIG. 15: (1) thepositioning of the ramp 97F in the inner ring of ramps and the ramp 109Fin the outer ring of ramps; (2) the different slopes such as that shownat 376F in the outer ring of ramps and 378F in the inner ring of rampsand (3) the flattened portion at the top of each ramp. With thisstructure, the lifter plate rides up the ramp and then stops in a stableposition, being held by the other of the inner or outer lifter plateswith its ramps in that stable flattened portion for driving in the lowerposition.

In FIG. 18, there is shown a partly exploded sectional view of anotherembodiment of control module 30G similar to the emobodiment of FIGS.5-17 having as its principal parts the inner and outer lever assemblies32G and 34G, two interfitting centrally located bolts or shaft 44G and47G, a lever separating disk 45G, first and second adjustment nuts 70Gand 71G, first and second program disks 60G and 62G, first and secondreader plates 63G and 65G and first and second lifter plate and base.The first cam includes a lifter base 82G, a lift plate 610G and thesecond cam includes a lifter base 81G and a lift plate 612G.

To hold and control the motion of the cams and cam followers together,the bolts 44G and 47G and corresponding housings 620G and 621Gcooperate. The outer lever assembly 34G has four holes 623G (not shownin FIG. 28) formed in its bottom to fit with posts from the innerhousing 620G. Base friction between the rotating elements is establishedby the adjustment nuts 71G and 70G at least one of which is threadableupon the bolt 44G and 47G. The program disks 60G and 62G rotate with thebolts 44G and 47G, lever assembly 32G, the cam lifter 82G and 81G, andthe lifter plates 610G and 612G. The reader plates 608G and 609G rotatewith housings 620G and 624G and the outer lever assembly 34G. Thiscauses friction on the friction disks 313 and 310 when the lift platesare engaged and lever assemblies are moving with respect to each other.

With this arrangement, the program disks or friction disks arepositioned one under the other together with the lifter base (cam) andlifter plates (cam follower members) which engage to read programs uponthem. When the levers move in one direction, one set such as the lowerset of lifter plates are engaged and when moving in the other directionthe other of the lifter plates are engaged. The program disks areconveniently mounted inside the housing to permit easy insertion. Thedisks 312G and 310 (FIG. 6) may be polyurethane members or another suchmaterial that will permit controlled friction.

In the embodiment of FIG. 8, the housing is in two parts, being split atits center location so as to include two portions: (1) the housingcoupler 622; and (2) the outer housing 624 which thread together asshown in FIG. 28 or which may be snapped together.

The bolts 44G and 47G are adapted to fit one into the other near thecenter of the control module. The two adjustment nuts 71G and 70G arelocated on the outer surface where the housing is opened. When the twoparts of the module are separated, the adjustment nuts can beindividually adjusted to establish friction on each housing half and theprogram disks 60G and 62G and nuts can be easily changed. Moreover, ifforce in only a single direction is desired, the top portion may beomitted.

In this embodiment, the two parts of the module are the inverse of eachother in the order of its parts so that one of the two sets of lifterbase, lifter plates, program disks and adjustment nuts is the inverse ofthe other. This simplifies manufacturing but more significantly permitsquick access by separating the two housings with a catch or screwthreads to the adjustment nut for ready calibration and for easyinsertion of different program disks. For easy insertion of programdisks, the program disks are located next to the adjustment nut in eachof the two parts and each of the parts of the module control theresistance to movement in a different one of the flexion and extensiondirections.

As better shown in FIG. 19 which is a bottom exploded perspective viewexcept for lift plate 82G shown in a top view, the adjustment nut 70G isthreaded onto the shaft or bolt 44G, and the adjustment nut 71G isthreaded onto the shaft or bolt 47G of the upper and lower sectionsrespectively to exert pressure on the other elements as majorcalibration adjustments. The shaft or bolt 44G includes a female slotthat receives a male parallelopiped portion that causes the two bolts toengage and rotate together. The nuts permit individual calibration ofthe two sections and contain indicia cooperating with indicia on thehousing or other members, such as the program disks 62G and 60G.

The disks 62G and 60G include apertures that receive a part on the nuts71G and 70G respectively to lock them in position, and the disks 62G and60G include elongated slots that receive similar shaped portions of thebolts 47G and 44G respectively to cause the disks 62G and 60G to rotatewith their respective bolts. Both of the adjustment nuts 70G and 71G andthe dials have indicia on their top surface to indicate their positions.

With this arrangement, the nuts 70G and 71G may be tightened to itsmaximum extent and then backed off to disengage corresponding downwardlyextending detents 308 and 309 into equally-spaced circumferentiallypositioned holes along the periphery of the recorder disks. In thealternative the equally-spaced circumferential apertures may be in acorresponding dial 304 shown at 308 embodiment of FIGS. 6-15 that isfreely rotatable and settable by inserting a part from the nut into itrather than in a corresponding recorder or program disks 62G and 60G.While such a dial 304 (FIG. 6) is lifted, zero indicators can be alignedand then, with the dial still engaging the recorder, the nut can beloosened to a predetermined adjustment force from the zero position. Theindicia between the dials and the nuts now indicate the looseness of theadjustment nuts and thus the fixed amount of pressure between thefriction disks and the recorders or program disks.

To provide programmed resistance to movement, the shafts or bolts 44Gand/or 47G are fastened for rotation with the inner lever assembly 32Grespectively and includes at their upper ends a cut-away portion havingflat sides to form a generally elliptical cross section. The aperturesin the program disks 60G and 62G and the lifter base 82G and 81G have agenerally elliptical side with flat sides and rest on the generallyelliptical portions (flat sided portions) at the top of thecorresponding shafts 47G and 44G to move with the shafts and with theinner levers. The inner and outer recorders or program disks 62G and 60Ghave upon them different tapered surfaces to provide a differentthickness and are otherwise free to move up and down on the ellipticalsection to prevent different amounts of friction to surfaces whichrotate against each other and underlie these tapered sections.

The lifter plates 610G and 612G each include a different plurality ofcircumferentially spaced ramp members (350, 352, 354, 356, 358 and 360being shown on plate 610G) positioned to engage the ramps (91G-101Gbeing shown on lifter base 82G) on lifter base 81G and 82G (lifter base82G being shown from a top perspective view). The lifter plates haveparts 311 that enter the openings 313 in the lifter base.

These posts limit rotation of lifter plates with respect to the lifterbase to keep the ramps engaged. As this rotation occurs, the lifterplates may be raised by ramps 350-360 traveling along ramps 91G-101G.

When the outer lifter plate 612G is lifted in one direction, thepolyurethane disk 310 is pressed between it and the outer reader 609G tocreate friction as the lifter plate rotates with the lever outerassembly 32G and the reader rotates with the lever assembly 34G.Similarly, if the inner lifter plate 610G is lifted, it presses on theurethane disk 312 opposite to the inner reader 608G so that as theassemblies 32G and 34G move with respect to the friction urethane disk.Thus, either the outer lifter plate 612G or the inner lifter plate 610Gis engaged by the ramps on a lifter base to move it while the other onedoes not move with respect to the respective one of the polyurethanedisks 300 and 312. The respective one of the inner and outer programdisk 60G and 62G move with the lower handle 32G.

In FIG. 20, there is shown a plan view of the program disk or recorder60G or 62G showing the generally flat-sided elliptical section 316 whichis engaged at all times with the complementary generally ellipticalportion of the corresponding shaft or bolt 44G or 47G (not shown in FIG.20).

As best shown in FIG. 21, the inner program disks or recorders 62Gincludes two rows of raised ramp portions and lowered portions such asthose shown at 320G which is raised so that, as it rotates with respectto the lifter plates 82G and 81G (not shown in FIG. 21), the frictionalforce is varied to provide a controllable program that typically wouldstart out lower, increase to a peak, and then be reduced. This programis easily changeable and can be prepared at the option of the physicaltherapist for the appropriate exercise variation during extension of thelimb. Three leaf springs to maintain tension are formed in each programdisk as shown for example at 321G.

In FIG. 22, there is shown a plan view of an outer lifter plate 81G ofFIG. 19 which also has inwardly extending members that can be separatedand become free of the lifter base 81G (FIGS. 24 and 25) in a manner tobe described hereinafter. As best shown in the elevational view of FIG.23, the lifter plate (612G or 610) includes ramps such as ramps 352,353, 354, 355 and 356 on its upper surface adapted to engagecorresponding ramps on the lifter base 81G (FIG. 24).

When the ramp plate is rotated in one of clockwise or counterclockwisedirection, which in the preferred embodiment is flexion, the lifterplate 612G is lowered or moved in the direction of the ramp plate 81G,and when rotated in the other direction, the lifter plate 612G ridesupwardly to permit movement over the lifter base 81G with respect to itcausing the reader plate 609G to exert pressure on polyurethane disk 310(FIG. 19). Thus, with one direction of motion, friction and pressure isexerted on the urethane layer 310 and in the other it is not. In theother section, the ramps are reversed on lifter disk 610G so as to cutin a similar manner with reversed direction of rotation.

In FIG. 24, there is shown a plan view and in FIG. 25, there is shown anelevational view of the lifter base 81G having a central opening 370 toreceive the shaft 74G (FIG. 6) and a plurality of circumferentiallyspaced ramps 91F, 93F, 95F, 97F, 99F, 101F, 103F, 105F, 107F, 109F, 111Fand 113F (FIG. 24). With this arrangement, rotation of the base rampdisk 81G together in one direction causes the ramps 91F-113F to engagethe inner lifter plate 612G (FIG. 19) and thus drive the lifter plate upinto urethane disk 312.

In FIG. 26, there is shown in a sectional view through lines 36--36 ofFIG. 24: (1) the positioning of the ramps; (2) the different slopes suchas that shown at 104C; and (3) the flattened portion 376 at the bottomof each ramp. With this structure, the lifter plate rides up the rampand then stops in a stable portion, being held by the other of the innerouter ring of ramps in that stable flattened portion for driving ineither an elevated position or a lower position.

In FIGS. 27 and 28, there are shown a rear elevational side view and aright elevational side view of the upper housing member 624 (FIG. 19)adapted to receive bolt 47G (FIG. 18) in a central aperture and having:(1) internal notches to receive projections 701-704 from reader plate609G (FIG. 30); and (2) notches 70G adapted to match external detents708 on housing 622 (FIG. 29). As shown in FIGS. 29 and 30, the readerplates 609G and 608G each include four different ears 701-704 thatengage internal notches 701-704 in housing 624 to be held againstrotation thereby. Rollers 800, 801, 802 and 803 ride against the outertrack and inner track program contour 320G and 321G (FIGS. 20 and 21),thus forcing the back of the roller plate to press the polyurethanedisks 310 and 312 against the lifter plate 610 and 612 for programmedmotion as the lifter base plates 81G and 80G are moved.

The inner and outer tracks 320G and 321G (FIGS. 20 and 21) face therotters 800-803, two of which (800 and 802) are aligned with the outertrack 320G and two (801 and 803) with the inner track 323G. The twoplastic disks 300 one of which shown broken away from program disk 60G(FIG. 6) and the other disk 62G covers the four rollers and includesslots to permit isolation of tension in the plastic disk adjacent to therollers. The two rollers and two tracks are for different directions ofmovement such as flexion and tension.

In FIGS. 31 and 32, a side elevational view and plan view of one of theflat tension adjustment nuts 70G and 71G are shown having correspondinginternal threaded openings 806 and 808. These nuts have matching andengaging complementary slots and wedges on their ends 47G and 44G (FIG.18). As best shown in FIG. 33, the bolts 47G and 44G have interfittingparts 900 and 902 that engage to lock the bolts together whilepermitting to pull apart to separate the top and bottom sections of thecontrol module. The matching covers 901 are shown in the plan view ofthe drawing and sectional view in FIGS. 34 and 35 respectively. Externalthreads permit control of friction by receiving individual adjustmentnuts. Separate covers, FIGS. 23 and 35, may close the two sections ifonly one side is to be used. The cover 901 has downwardly extendingdetents 903 separated by notches 905 that match the corresponding partsof the bottom sections of FIGS. 27 and 28.

In FIG. 36, there is shown a fragmentary perspective view of a brace inaccordance with the invention having a two side support 904, which mayfor example be a tibia support, locking the right and left sides of abrace together. For this purpose, the two-side support 904 includes arigid interlocking brace section 906 and a cushion section 908. Thesection 906 keeps the right and left sides 912A and 912B in positionwith respect to each other and the cushion section 908 keeps the tibiaor other body part in position. The rigid portion 906 has an adjustablelock 910 in the center and corresponding fasteners for sides 912A and912B for locking to the leg braces. The cushion portion is adjustable tobe pulled tightly against the leg.

As best shown in FIG. 37, the locking section 910 includes a pin 914that fits in any of a series of holes 916 in side 918 of the support.The selection of aligned holes 916 to receive pin 914 determines thelength of the top portion of the rigid brace section 906 (FIG. 36). Thecushion has a different end extending through a different one of theopenings 922 and 924 and extending over the top of the brace forfastening, such as by velcro at 926 and 928 respectively. As best shownin FIGS. 38-41, the sides 918 and 920 include: (1) interfitting topportions containing openings so as to conveniently slide together; and(2) a portion of the velcro hook-and-loop fastener for the cushion 908(FIG. 37). The embodiments of FIGS. 15-41 provide a single-plane,bi-directional, variable range-of-motion and a preprogrammedvelocity-independent resistance. The means for fastening the brace to aleg are not shown in FIG. 36 but may include pads and a means foradjusting the location of the pads to avoid irritation or damage to thebody such as irritation of burns.

To reduce pain and provide greater use of joints subject toarthrokinetic joint movement dysfunction, a programmed module providesresistance against the movement of the muscles opposing the movement ofa weaker muscle. In this specification, the word, "arthrokinetic"dysfunction means that ordinary movement of body portions about a jointresult in symptomatic events such as pain and/or inflammation and/ormovement in a direction at an angle to the desired movement. In usingthis invention, the resistance is programmed by the attending physicianor physical therapist to provide resistance to the stronger opposing orantagonistic muscles to permit the weaker muscles or agonistic musclesto function normally.

Some causes of arthrokinetic dysfunction are poor tracking or alignmentof movement because of weak or tight muscles, compression forces ofjoints during movement or adhesive restriction of movement. For example,patello-femoral pain may be caused by: (1) poor tracking due to weakvastus medialis obliquus (VMO), tight hamstrings or tight illiotibialband; (2) compression of joints due to chondromalelcia of the patella,patella alta/baja, narrow femoral/trochlear groove or genu varum/valgum;or (3) adhesive restriction due to poor patellar mobility.

Facilitation of medial and lateral knee stability, co-contraction ofanterior and posterior musculature, and reduction of patello-femoralcompression can all be enhanced through application of a hamstringresistance program using the module of embodiments of FIGS. 1-55. Thereare three distinct flexion programs that will provide safe, stabilizingresistance to build strength. Depending on the patient's condition,different programs may be selected to compliment the needs of thepatient and maximize abilities.

The HFP (constant resistance or flat plane program) can be used withpatients who will be performing moderate activity levels such as: (1)exercising at a moderate level on the stairmaster, stationary cycle, orleg press; and (2) walking less than 2 mph, climbing and descendingstairs, partial squats, knee flexing while sitting, and step downs. Byperforming these exercises while using the HFP, knee strength, patellartracking, and patellar mobility are safely increased or improved withoutcompressive irritation and inflammation.

The HIP (increasing resistance) can be used with patients who will beperforming minimal activity because of weakness or high pain levels.This program selection is ideal for the tentative, cautious,distrusting, or chronic patients. Normal stride length and cadence willbe difficult with ambulation, so speed of activity needs to remain slow.Completion of desired range of knee flexion is a must, therefore thepatient must "deliberatly complete" each repetition.

For example, to permit support in movement such as walking by generallyweakened persons such as older persons, a programmed module providesresistance to movement in the direction of natural forces. For example,a person who is unable to walk without an aide may have programmedmodules placed on the knee joint that would prevent collapse of the kneethrough resistance that would offset influence of gravity. The amount ofresistance selected is dependent on the strength of the muscle at thepositions or angles that resistance is applied. Resistance is usallyprogrammed to increase as the patient's knee joints are bent more withor because of the force of gravity.

The HDP (lowering resistance program) can be used with patients who wishto perform kinetic activities at a higher level of resistance and speed.This is an ideal way to normalize closed kinetic chain activity providedstrength is not a major issue at the vastus medialis obliquus (VMO).Quick facilitation of hamstrings activity decreases the pull of thevastus lateralis through reciprocal inhibition at the early stage ofknee flexion or eccentric activity, therefore allowing for symmetricalpatellar balance and allignment upon the first degrees of knee flexion.

Some embodiments of the invention described above can apply resistancethrough two separate, range-of-motion programs that vary the presetoverall resistance independently in both directions (flexion andextension). This means that the user can benefit from preset patterns ofresistance when participating in closed kinetic chain activity whilewearing the exercise device. For example, during a closed kinetic chainactivity wearing this system, a patient is able to feel appropriateresistance at knee extension during "swing" phase of gate andappropriate resistance at knee flexion during "step through" or "pushoff" phases of gate across the same knee. Also, a program patternedresistance can be applied across the joint, in a safe, protected andproper manner, at the patient's home, and not the clinic. In addition,by applying resistance through a bracing system that varies in bothdirections, the user can now enhance or decrease eccentric contractionsin weight bearing situations.

Changing the programs is easy because of their location within thesystem. This means more convenience for the person changing the program,and less chance of an assembly error after changing programs, whichcould cause malfunction of the device during usage.

The system protrudes out less from the brace, thus allowing the patientto use the brace during everyday walking, versus just attaching thedevice for exercise only. This helps the patient during earlyambulation, by using an incline program to ease the patient into therange of motion stops set on the brace.

The use of a ramp engagement system, instead of a one way clutch orratchet mechanism, permits programming of resistance to vary through therange of motion in one direction, while eliminating all resistance inthe other direction. This allows the clinician to isolate the greatestdeficits of strength within the patient's range of motion, and thenapply appropriate consistant resistance to the isolated ranges ofweakness in a `safe` manner, and within the patients own home. This alsoallows the patient to more quickly adapt to resistance forces that areapplied at weaker degrees of the range of motion. In addition, nowbecause of the capability of being able to apply a varied range ofmotion of resistance across joints through bracing, the clinician cannow provide a range of motion program specific to the user, thateliminates inconsistent force against movement.

Unlike isotonic resistance systems, some embodiments of this inventionproduce resitance that is immediately eliminated as movement stops,creating a safer exercising system; and although isokinetic systemsprovide this same safeguard because they are accommodating resistancemachines that use a variable torque motor or hydraulic/air pressure, thevelocity of movement affects the amount of resistance applied to theuser, unlike this embodiment in which velocity of movement has no effecton the preset resistance. To the patient, this means he or she does nothave to accommodate pain or weakness by slowing down a prescribedworkout, since slowing down velocity of movement to reduce resistance tothe weakest parts of the range of motion may actually decrease efficacyof the program specifically designed to strengthen these weakest parts.

Moreover, resistance produced by this invention can be isolated to onedirection at a time. In the clinical setting, this now allows a patientrecovering from a knee ligament injury to exercise earlier, because hecan now exercise safely and properly during flexion movements only,(which may be safe 2-3 weeks after surgery) and not extension movements(which may not be safe until 6 weeks after surgery).

Another advantage of this invention is it's relative small size. Withthe addition of a fastening attachment, this allows the firstopportunity for the clinician to apply resistance across a joint throughconventional bracing. This allows the clinician to educate andfacilitate the patient on safe patterns of appropriate resistance intheir own home, and outside of the medical community. Applyingresistance in this manner also provides development of neuromuscularcoordination and the antagonistic and assistance muscles, this isbecause it is applied to the patient in a closed kinetic chain activity(resistance device is attached to the patient) versus an open kineticchain activity (resistance device is attached to the floor).

In FIG. 42, there is shown a perspective view of another control module30H having a shaft or bolt 74H, an inner lever 34H, a center frictiondisk 380H, an upper handle assembly 32H, and an electronic programmodule 382H. In this embodiment, the friction disk 380H is firmlyattached to and electrically connected to the lower handle assembly 34Hand rotates with respect to and is intermittently electrically connectedto the upper handle assembly 32H to provide an electrical connectionbetween the electrical programming section 382H and the frictionassembly that includes the upper and lower handle assemblies and thefriction disk 380H with this arrangement, pressure between the handleassemblies and the friction disk is controlled by the program section382H during flexion and extension. The friction disk may be part of theinner or outer handles rather than a separate disk in some embodiments.

In this embodiment, the shaft or bolt 74H is threaded through alignedopenings 384, 386H, and 388 in the inner handle assembly 34H, frictiondisk 380H and outer handle assembly 32H to hold the units together. Theelectronic program control 382H is fastened for rotation with andelectrically connected to the upper handle assembly 32H.

In one embodiment, the lower handle assembly 34H includes a surface 385Hthat is magnetic and adapted to be pulled inwardly by a variablemagnetic force. An outer conductive band 387 is adapted to cooperateselectively with electrical portions of the friction disk 380H and aplurality of openings 398H circumferentially spaced from each other andunderlying the friction disk 380H, are in contact with the conductorspassing therethrough to form an electrical path interconnecting all ofthe conductors which pass normally through the disk 380H from top tobottom. In another embodiment, a motor 426 engages the bolt 74H with itsoutput shaft to drive the bolt in the manner of a ball screw and thelower plate or inner plate has cooperating threads in its centralaperture that engage the threads of the bolt in the manner of a ballscrew and nut to move the two levers toward or away from each other asthe motor rotates.

To cooperate with the friction disk 380H in generating friction, theupper assembly 32H includes a plurality of conductors 400Hcircumferentially spaced around its periphery and adapted toelectrically contact different ones of the conductors passing throughthe surface of the friction disk 380H. Its bottom surfacecircumferentially engages the top surface of the friction disk 380H. Thecircumferential conductors 400H are electrically connected to theelectronic control module 382H and spaced so that they are electricallyconnected to the ring of conductors 402H passing through the frictiondisk 380H, which conductors 402H contact and are energized by theconductive band 386H in the bottom assembly 34H. With this arrangement,the clock pulses applied to certain ones of the conductors 400H energizethe conductive band in the lower assembly and provide timing pulses thatare affected by both the time the clock pulses are applied by theelectronic control panel 382H and the spacing between the outer andinner lever assemblies 32H and 34H.

The electronic pressure control module 382H is electrically connected toa strong magnetic coil in its lower surface with the ability to attractthe magnetic portion 382H of the lower lever assembly 34H and thus forcethe two assemblies 32H and 34H together with increasing or decreasingforce depending on the current transmitted by the computer modulethrough its coil to vary the field. In this manner, the electronicpressure control module may control the frictional force and resistanceto motion in flexion and extension and may indeed even serve as anelectronic brake stopping motion or releasing the members to movefreely. The change in resistance may result from changes in theamplitude of the current or changes in duty cycle or frequency or anyother suitable variation.

Clock pulses are applied through selected ones of the conductorsextending to the bottom of the upper lever assembly 32H and electricalsignals are returned from the lower assembly 34H through the conductiveband when it is energized by clock pulses transmitted through conductors402H at selected positions. In this manner, the spacing of theconductors in the upper lever assembly 32H determines the transmissionof clock pulses and the retiming of reception of clock pulses inrelation to the positions of the upper and lower lever assemblies 32Hand 34H with respect to each other by virtue of the irregular spacing ofthe conductors passing through the upper assembly. Thus, a code isgenerated for application to the upper electronic assembly 382H inrelation to the spacing of the upper and lower lever assemblies withrespect to each other and a program to be described hereinafter withinthe electronic control assembly.

Of course, while the code in the embodiment of FIG. 42 is generated byelectrical contact between the moving members, other mechanisms can beused, such as an optical or magnetic reader that senses indicia with themagnetic or optical reader being in the upper handle assembly and theindicia in the lower lever assembly. In addition, many other techniques,well known in the art, can be utilized to provide coded signals to theelectronic module 382H.

Similarly, many different mechanisms may be utilized by the electronicresistance to motion module 382H to control the amount of force exertedin resistance to movement, including the control of pressure tosolenoids or the tightening or loosening of a mechanical device in theform of a solenoid that urges the upper and lower lever assembliestogether or loosens them. Moreover, instead of varying pressure in ananalogue or continuous manner, a solenoid or other device could applycomplete braking action such as by a detent and vary the frequency ofthe braking action in accordance with the positions of the levers. Forexample, instead of exerting magnetic force directly on the lowerassembly, the shaft 74H could extend upwardly through a solenoid coiland be pulled or released against the bias of a spring in proportion toresistance to motion or hydraulic or pneumatic control could be used.

In FIG. 43, there is shown a view taken through lines 43--43 of FIG. 42showing the outer handle assembly 32H and the plurality of conductors400H passing through and adapted for engagement with an electricalconnection to the module 382H (FIG. 42) at a plurality of locations. Themodule 382H is fastened to and moves with the lever assembly 32H so asto permit permanent electrical connection to the conductors 400H passingtherethrough so that the electrical resistance program can selectivelyenergize certain of those conductors and receive signals from certainothers of those conductors.

In FIG. 44, there is shown a block diagram of the resistance programmodule 382H having an input decoder 412, an output decoder 414, abuffered parallel-to-serial converter 416, a buffered serial to-parallelconverter 418, a microprocessor 420, a timing pulse output 422,interfaced drivers 424 and a magnetic brake coil and/or motor 426. Themicroprocessor 420 applies coded signals through the bufferedserial-to-parallel converter 418 through the decoder 414 to outputconductors in the outer lever assembly 32H (FIG. 42).

The coded signals interact through conductors on the friction disk 380H(FIG. 42) to interconnect through the conductive rim of the inner leverassembly 34H to provide a series of coded pulses thereto. These pulsesare electrically connected through other conductors 402H in the frictiondisk 380H back to the microprocessor 420 by way of the decoder 412 inthe buffered parallel-to-serial converter 416 to indicate the positionof the outer and inner lever assemblies 32H and 34H. This position iscompared with stored program values which send signals to the interfacedrivers 424, that control the magnetic brake coil and/or motor 426: (1)in one embodiment, resulting in varying current applied to the magneticbrake coil 426 to alter the attraction between the outer and inner leverassemblies 32H and 34H in accordance with the program; or (2) in anotherembodiment, resulting in a constant current being applied to a motor fora fixed time, with the bolt 74H being threaded into the output shaft ofthe motor to change the pressure by tightening or loosening the frictionsurfaces as the bolt is moved further away or toward the motor. Themotor is used when the attraction between the surfaces provided by themagnetic field is insufficient.

In one embodiment, a display 423 is provided of the position foranalysis on a monitor and a second display 425 provides images from afixed program to the patient. The later display may include aninteractive program such as for a ski slope with images and resistanceto movement provided by the friction modules that change as the patientmoves the braces. Moreover, virtual reality may be obtained by using twodifferent displays one in front of each eye to provide a threedimensional view and sound through earphones. Feedback signals can beused to select image and sound programs in response to the user'smovement and friction can be varied in accordance with the program.

In FIG. 45, there is shown a block diagram of the relevant functions ofthe microprocessor 420 having a comparator 450, a clock 452, a serialmemory 454, a program memory 456 and a digital-to-analog converter 458.The comparator 450 receives signals from the decoder 412 (FIG. 44)through the buffered parallel-to-serial converter and compares them withstored signals in the memory 454 under control of the clock 450.Recognition of matched signals in the comparison result in signals beingapplied by the comparator 450 to the program memory 456, which in turnsends signals to the digital to analog converter 458 to vary analogsignals on the conductor 460. The clock 452 provides clock pulsesthrough the output conductor 422 to the buffered serial-to-parallelconverter 418 (FIG. 44) for decoding in the decoder 414 (FIG. 44) andapplication to the conductors 410 (FIG. 44) in the outer lever assemly32H (FIG. 42).

With this arrangement, coded signals are transmitted and collated withthe position of the outer and inner lever assemblies to indicate theposition of the lever arms and their direction of movement. This in turncauses a readout of stored programs collated with the positions tocontrol a magnetic brake coil and thus control a resistance to movement.

The position code is provided by the connection between conductors inthe friction disk that are evenly spaced for each position so as to becombinations that are a different linear distance apart and cooperatewith similar spacings in the outer lever assembly 32H. The direction ofmovement is indicated by a numerical sequence in conductors formedsimilar to a vernier calibre so that each increment of movementindicates a sequence of movement in one direction and increments ofmovement in the other direction energized the same conductors in thereverse sequence. This is accomplished by evenly sp eced conductors ascombined with conductors of a slightly different spacing.

The embodiment of FIGS. 42-45 provides (1) a single-plane,bi-directional, variable range-of-motion and preprogrammedelectromagnetic velocity-independent resistance; and (2) in addition,uses a solenoid, stepper motor, or other methods, to actuate readerplate in or out against friction pad based on computer generated programfor each direction, from a micro-processor control unit.

This embodiment has several advantages such as: (1) the computergenerated program allows the clinician or user to quickly create anycustom program and this allows for an infinite number of program choicesso that patients are able to immediately use specialized programstailored to their specific situation; (2) specific programs can bealtered at the clinic based upon clinical use, findings, or evaluations;(3) increased resistance capabilities allow the device to be placed intolarge stand alone machines in addition to the bracing systems; (4)sensors can determine if resistance is adhering to preset program, andmake any adjustments to increase the relaibility of adhering to thepreset program.

In FIG. 46, there is shown a side view of an embodiment of outer leverassembly 32H having a disk portion 500, a step down portion 502 and aclamp portion 504. The disk portion 500 is disk shaped having a centralopening to receive the shaft 74F (FIG. 6) and four openings 313surrounding it to receive posts from the ramp disk 90F (FIG. 6) to holdthe upper lever assembly 32F to a ramp disk such as that shown at 90F inFIG. 6.

The clamp system 504 is adapted to clamp quickly onto a brace andincludes for that purpose posts 506 and 508 extending outwardly (intothe paper in FIG. 46), an upper wall 510, a lower wall 512 that extendspart way toward the upper wall forming a generally C-shapedconfiguration. The transition section 502 connects the disk portion 500and the clamp portion 504 at an angle to accommodate the elevation ofthe outer lever assembly 32F (FIG. 6) above the inner lever assembly 34F(FIG. 6).

In FIG. 47, there is shown a partly exploded, perspective end view inthe direction of lines 47--47 of FIG. 46 showing the C-shaped portion530 and facing inverse C-shaped portion 526 that form a clamp. TheC-shaped 530 portion has a top 510 and the inwardly extending portion522 that slips over one side of the brace and the inverse C-shapedportion 526 has a top and inwardly extending portion 524 that receivesthe other side of the brace.

The portion 526 matches with this first portion and contains an opening520 adapted to receive the post 506 and a similar opening parallel to itto receive the post 508 (FIG. 47) so that the two members may be snappedtogether. In actual practice the post 506 has a retainer on one end thatfits within a lip of the opening 520 so that it cannot be fullyretracted but only opened to accommodate the brace. When inserted fully,a spring biased detent 520 snaps into a groove, from which it can beremoved by pushing downwardly. Generally, 520 is L-shaped so as to gripthe post 506 from the lower end and removable by depressing the springbiased pin 520.

In FIG. 48, there is shown a side view of an inner lever assembly 34Hsimilar to the assembly 34F except that it includes a clamping mechanism530 identical to the clamping mechanism 504 except reversed so as to beadapted for the inner lever assembly rather than the outer leverassembly. However, the transition portion 532 is relatively level sLnceit does not have to be stepped downwardly from the disk portion 534 ofthe inner lever asssembly 34H.

In FIG. 49, there is shown an end, perspective, partly-exploded view inthe direction of lines 49--49 in FIG. 48 showing the bolt 509 positionedto clamp the end member 511 to hold it thereon similar to the operationof the lever arm 32H.

In FIGS. 50-54, there are shown a top view of the first lever 32H, a topview of a second lever 34H, a side view of a clamping mechanism for thefirst lever 32H, a bottom view of the clamping mechanism for the firstlever 32H, a side view of the clamping mechanism for the second lever34H and a bottom view of the clamping mechanism of the second lever 34H.These parts permit ready clamping of the module of this invention to aleg brace.

The second clamping portion shown in FIGS. 52 and 53 engage with thelever mechanism of FIG. 50 so that the two sides can be moved togetherand clamp against a brace. Similarly, the second portions of FIGS. 54and 55 cooperate with the lever assembly of FIG. 51 so that they slideapart and together and clamp over the brace.

The first lever 32H includes posts 521 and 523 which fit within theclamping section 526 as well and permit sliding of the clamping sectionand lever assembly together within a range permitted by the screws 519and 525. Similarly, the second lever section includes posts 515 and 517that extend between the clamping section and the lever itself as shownin FIGS. 64 and 65 and permits sliding between the two so that they mayfit over the brace and be snapped together.

In FIG. 56, there is shown a prospective view of exercise assembly 10Adesigned to include an arm brace similar to the leg brace of exerciseassembly 10 (FIG. 1) and adapted to receive a control module 30 whichmay be snapped in place in a similar manner to permit exercise of an arm12A without removing the arm brace. This arm brace is identical in everyrespect to the leg brace except for the settings of range of movementand the program for resistance of movement that are altered toaccommodate the nature of an elbow injury rather than a knee injury. Asin this case, different friction surfaces are selected depending onwhether the lever assemblies are being moved closer together or furtherapart and these surfaces may also be contoured to vary the amount offriction in either direction.

In FIG. 57, there is shown an elevational view of a ski boot 1000 havinga toe portion 1002, a heel portion 1008, a back portion 1004, and amodule 30 having its lever arms connected to the toe portion and backportion in the vicinity of the ankle.

In this embodiment, the toe portion 1006 and the back portion 1004 arestiff, but they are movable one with respect to the other and the heelportion 1008 has flexible material between a hard heel seat so that theboot portion 1004 may move back and forth. To accommodate movement aboutthe module 30, the lever arms slide within pockets 1005 and 1007.

In FIG. 58, there is shown another embodiment of ski boot 1000A similarto the embodiment of FIG. 56, except that a single module 30B is mountedto a relatively stiff heel portion 1008A with a space between the stiffback portion 1004A and the heel portion. The stiff toe portion 1006Awhich is clamped by regular clamps to the heel portion is separated fromthe stiff back portion by a flexible material 1007A so as to permitmotion back and forth. The single lever arm of the module 30B extendsupwardly into a slidable portion 1005A and, the module itself has itssecond portion firmly mounted to the heel 1008A.

In FIG. 59, there is shown still another embodiment of ski boot 1000Csimilar to the embodiment of FIG. 57 but having two modules 30A and 30Bconnected together by a single arm to permit still further variations inthe movement of the stiff portion 1004B of the boot with respect to thestiff bottom portion 1008B with these portions being connected byflexible material. In each of these embodiments, the module 30A may beof the type having feedback sensors which may be electrically connectedto a computer arrangement for virtual imaging.

The exerciser embodiments of FIGS. 1-55 may be attached to exsistingbraces such as lower extremity braces or upper extremity braces andprovide for controlled exercise of the person wearing the brace or maybe part of another controlled resistance device. They provide controlledresistance therapy for persons with injured extremities or joints orpossibly other body parts, with the resistance being movement that isrelated in a precontrolled manner to the position of the part beingexercised. They provide an exercise device and technique that providesresistance to movement that is related in a pre-programmed manner to theposition of the part being exercised but is applied independently ofspeed.

This equipment permits tailored exercise programs for a wide variety ofpurposes, such as to strengthen principally the fast twitch muscle orthe slow twitch muscle or to strengthen only certain portions of aninjured muscle. The user varies the speed along a resistance programwhich provides resistance to movement related to position but which doesnot. generate an external force so unless the user is applying force, noresistance is applied by the equipment and the mechanism is released.

In another embodiment, the exercise device is coupled to images or othersensed programs so that the user can correlate muscle activity withsensed events. With this arrangement, the user can visualize on acathode ray tube such as a head mounted unit, an activity such as skiingand the screen shows the terrain so the user can adjust his positionaccordingly. Sensors indicate the result of his actions and provide acontrolled resistance related to his motion. Some equipment such as skiboots or the like are provided with a programmed resistance using theexerciser to provide protective and useful amounts of resistance tomovement in controlled directions.

The resistance to movement during exercise is related in apre-controlled manner to the position of the part being exercised, butthe relationship between position and resistance is not proportional toan average motor performance curve but instead constructed for specificpurposes. This exercise device can be conveniently used in either openkinetic chain exercise or closed kinetic chain exercise.

In a preferred embodiment, the means for controlling the amount of forceincludes one or more frictional resistance members that are removablyattachable to a conventional brace or other fastener to provide adesired resisting force to movement. The frictional resistance membersmay include either (1) a mechanism that releases for free movement inone direction but only moves with resistance against force in the otherdirection; or (2) a mechanism that provides controlled variable orconstant resistance in either or both directions. Generally, adjustablestops or limit members to control the amount or range of motion areprovided. However, the resisting force may be provided by force memberssuch as springs or motors or stretchable members or pneumatic cylindersor the like.

Friction members and pressure members that work together to providefrictional force against movement are used in the preferred embodimentbecause mechanisms that use friction to control the amount of resistanceto motion are relatively easy to adjust for different amounts ofresisting force by adjusting the pressure normal to frictional surfacesthat move with respect to each other.

In the preferred embodiment, a knee brace or elbow brace includes firstand second sections connected at a pivot point. For one use, the firstsection is attachable to the leg (tibia and fibula) by a firstconnecting means and the second section is connected to the thigh(femur) by a second connecting means. For another use, the first sectionis attachable to the forearm (radius and ulna) by a first connectingmeans and the second section is connected to the arm (humerus) by asecond connecting means. In either use, a first lever in the firstsection removably snaps onto the first connecting means and a secondlever in the second section removably snaps onto the second connectingmeans, with the two levers being connected to a friction control modulecentered at the pivot point. The friction control module controls theamount of friction against which the first and second connecting meansmove.

In the preferred embodiment, frictional members are moved with respectto each other as the two levers move. The amount of friction iscontrolled: (1) in one embodiment, through a ratchet member that causesthe two disks to be forced against each other in one position butreleases them so they are separate in another position; (2) in anotherembodiment, through a ramp mechanism that is engaged to push the diskstogether in one direction of motion with motion in the other directioncausing the two members to be separated by one of them slidingdownwardly on the ramp; and (3) in still another embodiment, amicroprocessor-controlled pressure device that controls both a basicoverall pressure or minimum pressure and variations in pressure tocreate variations in resistance to motion in different directions ofmovement. An overall bias pressure may be established by a tighteningmechanism that applies normal pressure between two friction members.

In some embodiments, the friction disks are level and flat and in othersthey are contoured to provide different amounts of friction at differentlocations in the movement of the device. The flexual and extensionalfriction members may be next to each other in concentric rings, or onopposite sides of each other or one beneath the other.

In the preferred embodiment, the frictional members are made to beeasily connected to splints that are parts of existing commercialbraces. The frictional members are housed in a control module that haslevers extending from it. The levers are replaceably attached to thestandard splints of the braces. With this arrangement, the controlmodule may be attached to a brace by a person wearing the brace, usedfor exercise while the control module is attached to the brace andremoved from the brace after exercise without removing the brace.

In other embodiments, the friction may be provided by compressingfrictional plates together in accordance with a planned program, such asmagnetically or by rotatable screw drive means or hydraulic plungermeans or other means for varying the force between the friction plates.

The basic module can also be used in conjunction with other types ofequipment such as ski boots or the like to provide a controlled amountof movement and resistance and thus avoid injury that might otherwiseoccur such as with an inflexible ski boot. Similarly, such equipment mayinclude sensors so as to form visual or other sensory images while aperson exercises, such as for example, images of terrain while someoneis using exercise equipment simulating cross country skiing. Orthodicsystems may be equipped to provide overall or relatively completeexercise environments or other simpler equipment now equipped withweights to provide isotonic exercise may instead be equipped withcontrol modules to provide controlled resistance in accordance with theposition of the anatomical segments being exercised.

In FIG. 60, there is shown a simplified fragmentary, partly sectionedelevational view of a multiple-plane exercise device 1050 including asits principal parts a first lever arm and holder assembly 1052, a secondlever arm and holder assembly 1054 and a control module 1060. Thecontrol module 1060 connects the first and second lever arm and holderassemblies 1052 and 1054 in a manner similar to that of the embodimentsof FIGS. 3 and 10-69 and the exercise device of FIG. 60 is adapted to befastened to body portions on opposite sides of a limb to control theamount of force necessary to move about that joint.

While the previous embodiments control only pivotal motion in a singleplane, the exercise device 1050 controls motion in a multiplicity ofdifferent planes and directions, providing for rotary motion of one bodypart with respect to another and pivotal motion in a number of differentplanes and combinations of rotational and pivotal motion between thebody parts. It provides resistance that is controlled independently ofspeed and can be programmed to vary the resistance as a function oftime, or as a function of position and as a function of speed at theoption of the programmer.

The first and second lever arm and holder assemblies 1052 and 1054 eachinclude a different one of the two holders 1056A and 1056B respectivelyand a different one of the corresponding first lever arm assemblies 1052and second lever arm assemblies 1062. The holder 1056A is fastened tothe lever arm assembly 1058 and shaped and designed to hold a body partfor one side of the joint which moves with respect to a second body partand the holder 1056B is fastened to the lever arm assembly 1062 formovement therewith and sized and shaped to hold the second body partthat moves about a joint.

The module 1060 that connects the first and second lever arm and holderassemblies 1052 and 1054 is mounted in juxtaposition with the joint orportion of the body that connects the two body parts that move withrespect to each other. The word joint in this specification not onlyincludes conventional joints such as elbows or the like but also otherbody parts that permit or control the articulation of one body part withrespect to another. Thus, while holders best adapted for an elbow or aknee are shown in FIG. 59, it is obvious that different shapes and sizesof holders may be fastened to the lever arm assemblies and adapted toconnect to other body portions to control articulation about the neck,or back.

The first and second holders 1056A and 1056B are similar and in thisspecification their corresponding numbers except for the respectivesuffixes A and B. Thus only one will be described which is generally theholder 1056B.

The holder 1056B includes a tubular sleeve wall 1064B, a holder opening1066B, a hinge 1068B, three latch members 1070B, 1072B and 1074B. Thesleeve wall 1064B is adapted to open about the sleeve opening 1066B bypivoting about the hinge 1068B. When closed, the latch members 1070B,1072B and 1074B hold it closed. They may be a hook and loop fabricholder or a mechanical latch of any type.

With this arrangement, the two holders 1056A and 1056B can be mounted ondifferent sides of a joint or other body part that controls articulationto permit movement in a variety of planes under the control of thecontrol module 1060 and an appropriate program where variations are tobe made in friction with respect to time, position or velocity

The first lever arm 1058 includes a first lever body 1076 and a programunit 1078. The first lever body 1076 is a support adapted to be fastenedto the holder 1056A and to mount the program section 1078 rigidlythereto and may be of any shape such as the tubular shape shown in FIG.60 but can be a flat shape or round shape or any other appropriateshape.

The program unit 1078 includes a first friction surface 1080, a driveunit 1082, and a holding unit 1088. It is fitted to cooperate with auniversal joint and a friction surface, which are part of the controlmodule 1060. With this arrangement, the drive unit 1082 exerts forceunder the control of a program on the first friction surface 1086 whichengages the friction surface 1086 of the universal joint 1084 to varythe resistance against a force applied between the two lever arm andholder assemblies 1052 and 1054. The control of the drive system may bepneumatic or electrical and may operate the drive unit 1082 in themanner of a stepping solonoid or a pneumatic or hydraulic piston underthe control of a computer.

The universal joint 1084 includes a cylinder having upon it the frictionsurface 1060 and is held captive within the program unit 1078 with thefriction surface engaging the friction surface 1080 along a solid arc.In embodiments providing for ultamatic changes in the pressure betweenthe friction surfaces, the friction surfaces can be uniform but, on theother hand, variations in either of the friction surfaces as tothickness or coefficient friction may be used to program the resistanceat different angles between the first lever arm and holder assembly andthe second lever arm and holder assembly 1052 and 1054.

To cooperate with the control module 1060 and the first lever armassembly, the second lever arm assembly 1062 includes a second leverbody 1100 and a universal joint unit 1102. The body portion 1100 istubular and fastened to the sleeve 1056 to move therewith and connectedat its end to the universal joint unit 1102.

The universal joint unit 1102 includes a housing for a portion of thecontrol unit 1060 including the universal joint stem 1006, a spring1104, a retainer ring 1108 and a detent member 1106. The detent 1110 ison the stem 1106 and is pressed upwardly against the retainer ring 1108on the end of the universal joint unit 1100 so that the spring biasesthe stem 1102. The stem 1102 fastened at its other end to the universaljoint ball within the universal joint unit 1078 held by the first leverarm 1058. With this arrangement, the stem 1106 has some leeway and canbe biased inwardly against the force of the spring 1104 and nonetheless,is in contact with the friction disk 1080 and captured within theuniversal joint member 1078.

The control module 1060 includes an end ball forming a portion of theuniversal joint 1084. The diameter of the ball is greater than anopening in the end of the universal joint unit 1078 so as to be capturedas part of the first lever arm 1058 but connected to the stem 1106 whichextends into and is held by the detent 1006 and retainer ring 1108 ofthe second lever arm 1062. With this arrangement, the friction surface1080, which is pressured by the drive unit 1082, controls the resistanceagainst force that attempts to move the two lever arms apart inaccordance with a controlled program.

At the top of the spherical portion of the universal joint extendingfrom the housing 1094 are a plurality of markings 1092 and mounted atthe end of the unit is a sensor 1090 which senses the markings andprovides signals on conductors 1091. The sensor generates signals onconductors 1091 indicating the position of the first lever arm andholder assembly and the second lever arm and holder assembly withrespect to each other. This signal may be fed to the computer which inturn, supplies signals to the drive unit 1082 to control the pressureand thus the frictional resistance to be applied at that location.

The control module 1060 includes and cooperates with the drive system1082, first friction surface 1080, second friction surface 1086,universal joint 1084, holding unit 1088, sensor 1090, markings 1092 andstem 1106. With this arrangement, the control module 1060 interconnectsthe first lever arm and holder assembly and the second lever arm andholder assembly to control the amount of resistance to force inaccordance with location and in some embodiments time or speed ofmovement, and to provide information to a central controller as to theposition of the first lever arm and holder assembly with respect to thesecond lever arm and holder assembly.

In FIGS. 61 and 62, there are shown a longitudinal sectional view and anend view respectively of the housing 1094 which cooperates with thecontrol module 1060 (FIG. 59) to control the amount of frictionalresistance created by the exercise device 1050 (FIG. 60) including anouter housing wall 1120, a cylindrical bushing 1122, a retainer ring1124 and an externally threaded retainer nut 1126. The retainer ring1124 is sized to close the wall 1120 and having a curved interior and anopening adapted to confine rotatably the spherical portion of theuniversal joint 1086. The retainer nut 1126 cooperates with the internalthreads 1128 on the wall 1120 to hold the retainer ring in placeconfining rotatably the cylindrical portion of the universal joint 1086to cause it to cooperate with the friction surface. The friction surfaceis complimentarily shaped to the sphere shown at 1080 in FIG. 60. Thebushing is adapted to receive and confine the drive unit 1082 (FIG. 60)which in turn retains the solonoid that controls the outward pressureexerted by the frictional surface 1080.

In FIGS. 63 and 64, there are shown a longitudinal sectional view and anend view respectively of the control module 1060 having a drive unit1082, a first friction surface 1080, a universal joint 1084, a stem 1106for the universal joint and a retainer ring 1108. The solonoid 1130operates in a step by step fashion to push the first friction surface1080 against the friction surface 1086 on the universal joint 1084.

The stem 1106 provides a coupling to the second lever arm and housing1054 (FIG. 60) but the resistance to movement in a pivotal direction orcircular direction in this embodiment is provided by the interfacebetween the first friction surface 1084 and the second friction surface1086.

On the side of the ball joint facing away from the solenoid 1130 andextending beyond the second arm assembly, there are a plurality ofmarkings 1092 which may be physical projections sensed by a physicalsensor or optical markings sensed by a photocell arrangement to conveythe position of the first and second lever arm and holder assemblies1052 and 1054 with respect to each other. The stem 1106 includes aretainer ring 1108 that limits the motion of the stem so to maintain itwithin the second lever arm assembly 1062.

In FIG. 65, there is shown an end view of first lever arm and holderassembly 1052 having a first lever body 1076 and a first holder 1056Aattached to each other. The universal joint 1084 and stem 1106 extendfrom the lever arm assembly 1076. The holder 1056A includes a latchmember indicated at 1070A which snaps into its mating latch member atthe opening line 1066A, a hinge 1068A and two half tubular cylindermembers which snap together about a body part. With this construction,the holder 1056A may be opened, snapped over a body part such as forexample a thigh with the control module fitting over the joint such asfor example the knee joint and the second holder opened and snapped inplace so that the first and second lever arms are mounted to body partson opposite sides of the joint to control the resisting force to theirmovement.

The embodiment of FIGS. 60-65 provides a multi-plane, multi-directional,variable range-of-motion, preprogrammed electromagnetic,velocity-independent resistance. It uses solonoids, stepper motors,pneumatic cylinders, hydraulic cylinders, ball screw arrangements or anyother means to actuate curved reader plates in or out against a curvedball joint. The curved ball joint may use friction or electromagneticfields between a ball joint and its curved plate to apply changingamounts of resistance to the multi-directional, multi-plane movements ofone lever arm with respect to the other while maintaining movement ofthe system shaft with respect to the housing controlled by a presetcomputerized program that sets the resistance at every degree along athree dimensional three plane range of motion, independently of anydirection.

With the embodiment of FIGS. 60-65, multi-plane resistance is providedto parts connected at multi-plane joints such as a hip or shoulder. Itmay also be used to provide inhibiting action on one side such as forexample a stroke patient with left cerebral vertebral accidentdisfunction may have the proximal joint (such as the left hip) inhibitedduring standing, sitting or lying down positions and in multi-directionpatterns of movement of left hip abduction, flexion, extension orrotation to compensate for the dysfunction and to increase rightextremity awareness, activity and strength. Moreover, otherdistal-joint, multi-direction patterns of movement can be facilitated orinhibited through neuromuscular timing during full limb activity such asfor example one can decrease knee extension spasticity during hipextension.

In FIG. 66, there is shown still another exercise apparatus 1200 havinga plurality of individual exercise units 1050A-1050F on a correspondingplurality of joints. Each of the units 1050A-1050F corresponds generallyto the unit 1050 in FIG. 60 and operates in the manner, havingcorresponding ones of the control modules 1060A-1060F lever holdingassemblies 1052A-1052F and 1054A-1054E. The units control resistance toforce by a subject about the shoulder, elbow and back to which they areattached but can also control other joints such as the neck. With thisarrangement, each joint can be controlled for exercise purposes. Ascreen 1202 may be used to provide images in an interactive system thatsimulates a sport such as explained in connection with FIGS. 44 and 45.

In FIG. 67, there is shown a schematic side elevational view of anexercise device having a support base 1146, an expandable piston 1144such as a pneumatic piston, holders for body parts such as 1148A-1148Mand control modules in accordance with the emodiments described in thespecification located at the joints which are to move during exercisesuch as the control modules 1142A-1142F. The piston 1144 is mounted tothe base 1146 with a swivel type mounting so as to be capable ofexpanding upwardly or downwardly and communicates with a back rest and aseat rest through the control module 1142D.

To permit movement about joints: (1) the back rest communicates with ashoulder rest at control module 1142C and with a head rest throughcontrol module 1142; (2) the distal end of the upper arm supportcommunicates with a lower arm support through the control module 1142;and (3) the seat rests communicate with the lower leg through controlmodule 1142E and with the foot rest through control module 1142. Thisarrangement permits the controlled articulation against controlledpressure at each of the principal joints of the body.

In use, a patient may be fastened in place through the back rest holder114A, the seat rest holders 1148F and 1148G, the lower leg rest holders1148E and 1148D and the foot rest holders 1148C and 1148B. The head,shoulder and arm rests are fastened to the patient through the holder1148L, the holder 1148K, the holder 1148G, the holder 1148I and theholder 1148H respectively. As shown in FIG. 68, the exercise device 1140may be lifted with the piston 1144 so that the patient is fastened inplace in a standing position. In either position, the position of thejoints is secured as described in connection with the embodiments ofFIGS. 60-65 and resistance to force controlled.

In FIGS. 69 and 70 there are shown a longitidinal sectional view and anend view of another embodiment of control module 1150 having a housing1152, a stepper motor 1154, 1156, a friction control shaft 1158, aretainer plate 1162 and a friction pad 1160. With this arrangement, thefriction member 1158 is adapted to be fastened to one holder to controlfrictional movement of that holder and the stepper motor 1152 is mountedin a fixed position with respect to a programmer. Accordingly a centralunit controls the friction at a joint to provide controlled resistancefor exercise. The control module may also be used to control pressurebetween two mating sections of a universal joint such as in theembodiments of FIGS. 60-68.

In FIG. 71, there is shown the control module 1150 mounted to astationary unit 1166 in juxtaposition with a chair 1164 so that thecontrol 1150 controls a joint 1162 connecting the seat 1163 and thelower leg support 1161 so that the patient may exercise the knee jointunder the control of the module 1150. In FIG. 71, there is shown a sideelevational view of the chair 1164 showing a grip in addition to thegrip about the leg rest 1161 but at a higher level such as shown at1174. That unit may be used for arm exercise and the lower unit may beused for leg exercise.

In FIG. 73, there is shown a central control console having fourcircumferentially spaced control units 1166A-1166D and adjoining chairs1164A-1164D to permit a single central control computer 1172 to controlseveral modules which can accommodate individual patients in legexercises or arm exercises or the like.

In the embodiment of FIGS. 60-68, multi-joint, multi-plane,multi-directional, variable range of motion, preprogrammedelectromagnetic velocity independent resistance exercise may beprovided. Generally, in addition to the advantages of other embodiments,this advantage has the ability to provide computer control presetresistance to multiple joints based on preset resistance values given toeach joint for every combination of joint range of motion in respect toother participating joints. It can provide both flexion and extensionover a wide range of motion which is preset and with the appropriateresistance for each. They are especially useful for virtual realityvision exercise embodiments and total body exercise with or without thetelevision vision or simulated action.

The embodiments of FIGS. 60-68 provides multi-joint, multi-plane,multi-directional, variable range of motion preprogrammedelectromagnetic velocity-independent resistance, virtual-reality helmettype of activity either standing or sitting down and the embodiments ofFIGS. 71-73 provide single plane, multi-directional, variable, range ofmotion, preprogrammed velocity-independent control with virtual realityif desired. Helmet or glasses utilizing computer imagery provide imagescoordinated with computer monitoring of the program to vary the presetmultiple joint resistance for each joint as described above. The rangeof motion for each joint is predetermined by one of many programs thatsets the resistance value based on: (1) the range of motion position ofthe selected joint and the range of motion location of all other jointsin relation to the selected joints; (2) the direction the limb connectedto the selected joint is moving and what direction other limbs aremoving in relation to the selected joints; (3) the three dimensionalcoordinates of the virtual reality video tape. With the use of a viewerthat can artificially generate a functional closed kinetic chainactivity visualization, the exerciser can see hiking or otherenvironments as exercising with the resistance being adjusted inaccordance with the motion of the exerciser in simulated hiking orrowing or skiing or the like.

In FIG. 74, there is shown still another exercise assembly 10E includinga brace portion 14B and right and left exercise modules 16C and 16Drespectively. As in the embodiments of FIGS. 1 and 2, the controlmodules 16C and 16D interconnect two portions of the brace about a jointthat is to be protected and/or exercised. In the embodiment of FIG. 74,the exercise assembly 10E is adapted for a knee brace 14B but theexercise modules 16C and 16D may be used with other types of braces suchas elbow braces or the like and for other types of exercise equipment inwhich controlled resistance is to be provided in two directions.

The brace 14B may be any of many standard braces and is not by itselfpart of the invention. It includes in a manner typical of knee braces, afirst support means 20E and a second support means 22E connectedtogether by pivotable joints 24E and 24F in a manner known in the art.The control modules 16C and 16D are each adapted to be interconnectedover a respective one of the pivotable joints 24E and 24F. The right andleft exercise modules 16C and 16D are identical and only the module 16Cwill be described.

The control module 16C includes a control assembly 30J, and first leverassembly 32J and a second lever assembly 34J. The first and second leverassemblies 32J and 34J are fastened to the control assembly 30J onopposite sides thereof with the first lever assembly 32J being adaptedto be fastened to the first support means 20E to move with the thigh ofa person and the second lever assembly being adapted to be fastened tothe second support means 22E to move with the leg of the person.

The first lever assembly 32J includes a first lever arm 1384, a slot1386 in the first lever arm, a positioning bolt 1388 and a positionsensor 1390. The slot 1386 is alignable with a similar slot in the firstsupport means 20E so that it can be positioned therewith and movablyfastened in place by the positioning bolt 1388. The position sensor 1390is mounted to the first arm 1384 and used to sense the position of thefirst support portion 20E to the second support portion 22E of the braceand thus the amount of extension or flexing of the limb or body portionsabout their joint.

The second lever assembly 34 similarly includes a second arm 1392, aslot 1394, a positioning bolt 1396 and an actuator 1398. With thisarrangement the second arm has its slot 1394 aligned with a similar slotin the second support member 22E to be movably fastened by the nut 1396with the actuator 1398 facing and contacting the control module 30J inline and diametrically opposite to the sensor 1390 on the opposite side.The actuator 1398 adjusts the pressure and the sensor 1390 senses theangle between the members surrounding the joint.

The control module 30J includes a shaft 70J, a first friction disk andpad 1400 and a second friction disk and pad 1402. The actuator pushesthe pads against the friction disk to vary the force between thefriction disk and the pad and thus the resistance to movement of thelimbs or other body parts about the joint. The slot and bolt arrangementallows movement of the actuator, sensor and module as one unit so as tobe able to adjust for the eccentric motion of the joint during flexingand extension.

In FIG. 75, there is shown a portion of the first lever assembly 32J anda portion of the control module 30J including the first lever arm 1384and the first slot 1386 in the lever arm. As shown in this view, thecontrol assembly 30J includes a friction disk 1406, a shaft 74J, a shafthead 1408, a shaft nut 1410 and a first arm base member 1412. The shafthead 1408 is a right regular parallelepiped having sides larger than thediameter of the cylindrical shaft 74J. The shaft 74J has a threaded end1414 which engages threads in a central tapped hole of the shaft end nut1410 to hold the friction disk 1406 to the base 1412. Aligned aperturessized approximately the same as that of the diameter of the shaft 74Jextend through the friction disk and the base 1412 to provide alignedopenings for the shaft to pass therethrough and be tightened bythreading of the nut 1410 over the threaded end thereof. Aparallelepiped shaped aperture 1416 is sized to receive the head 1408 soas to cause the friction disk 1406 to rotate together with the arm 1384.

In FIG. 76, there is shown a fragmentary perspective view of the innerlever 34J having a second lever arm 1392, a holder 1410 for the actuator1398 (FIG. 74) and the slot 1394 for fastening to the second supportmeans 22E. The control assembly 30G has an annular support ring 1174 anda friction base and pad 1400. The actuator 1398 presses the frictionbase and pad 1402 (FIG. 74) against the friction disk 1406 and alsoagainst the pad 1400 in accordance with an electrically controlledprogram to alter in a preprogramed manner the amount of frictionalresistance against movement of the first and second levers 34J and 32Jwith respect to each other.

An optical sensor suitable for sensing position signals such as thesensor 1390 may be obtained from the Poly-scientific Division of LittonIndustries, 1213 North Main Street, Blacksburg, Va. 24060-3100 such asunder the part number F03573-2. This linear sensor provides a digitalsignal which may be connected back to the computer (not shown in FIG.74). Suitable actuators such as used in the actuator 1398 may beobtained from ETREMA Products, Inc., a Subsidiary of EDGE Technologies,Inc., 2500 North Loop Drive, Ames, Iowa 50010 such as that sold undercatalog number 50/6m.

In FIG. 77, there is shown a perspective view of a wheelchair 1420having four wheels 1422A-1422D, a back rest 1426 and a seat 1424supported on a frame in a conventional manner to permit a person to siton the horizontal support 1424 while it is supported on the four wheelsby the frame and lean back against the back rest 1426. Arm rests areprovided on each side as shown at 1442A and 1442B.

The wheelchair 1420 also includes an arm exerciser having first pair ofright and left control modules 1438A and 1438B, a corresponding pair ofexercise shafts 1436A and 1436B and a corresponding pair of hand grips1434A and 1434B. The control modules 1440A and 1440B are mounted onopposite sides of the wheelchair frame and are mounted to the frame sothat they provide resistance along horizontal axis to movement in apreprogramed manner. They may be designed in the manner of any of theother control modules or in the manner of the control modules of FIGS.74 through 76.

The control modules 1438A and 1438B are mounted between the frame of thechair on opposite sides of the chair to accommodate both the right andleft arm, with the module 1438A accommodating outward lateral movementby the right arm and the module 1438B being positioned to accommodateoutward movement by the left arm. These two modules have a vertical axesand connect corresponding ones of the horizontal arm exercise shafts1436A and 1436B to the frame at one end of the arm shafts. The handgrips 1434A and 1434B are mounted to corresponding arm exercise shaftsto provide a convenient hand grip for a person resting in a wheelchairto have controlled arm exercise about the control modules.

A programed degree of resistance in accordance with the movements of thehand laterally outward may be provided. Moreover, the modules 1438A and1438B may be mounted to corresponding control modules of similarstructure but independently programable and having axis that arehorizontal and transverse to the axis of the modules 1438A and 1438B. Inturn, these modules may connect corresponding ones of the arm exerciseshafts 1436A and 1436B so that these arm exercise shafts may be movedwith a predetermined pattern of resistance outwardly under the controlof the corresponding ones of the modules 1436A and 1436B and under thecontrol of the additional modules in a vertical direction to provide twodegrees of motion to the exerciser. Thus, two of the single plane twodimentional control modules may be connected together to provide threedimentional multiple plane exercise movement.

In a similar manner, the backrest 1426 is connected to the frame by twomodules 1440A and 1440B, one on each side of the backrest. These twomodules form a connection between the wheelchair frame and the backrest1426 to permit controlled resistance to forcing the backrest 1426backwardly and thus permit exercise about the waist.

To permit leg exercise, the control modules 1428A and 1428B are mountedto the frame on opposite sides with a horizontal axis and connectcorresponding ones of the leg support shafts 1432A and 1432B to theframe to provide controlled resistance therebetween. The foot rests1430A and 1430B are connected to the opposite ends of the correspondingleg support shafts 1430A and 1430B to permit exercise of the person'slegs by swinging them upwardly against the resistance provided by thecorresponding ones of the control modules 1428A and 1428B.

While exercise mechanism have been shown for multiple limbs inconnection with a wheelchair, these exercise mechanisms may be utilizedin other types of human support structures such as ordinary chairs orbeds or frameworks for supporting a person who is in a standingposition. In all of these types of structures, patterns of motion in oneor two dimensions for exercise may be provided with control modules atthe pivot points to provide resistance against movement in accordancewith the program within the control module.

In FIG. 78, there is shown a perspective view of a snow board binding1450 using the control modules described above and having a base 1452, aboot latch 1454 and a leg latch 1456. The base 1452 is adapted to bemounted to the snow board in fixed position and supports the boot latch1454 which is hinged and adapted to fasten the front part of a boot inplace to the base 1452. The leg fastener 1456 is mounted to the bootfastener 1454 by a shaft 1458 which connects mountings 1460 and 1462adjustably to each other.

The mounting 1460 is rigidly fixed to the leg latch 1456 and the mount1462 is rigidly connected to the boot fastener 1454. The shaft 1458 ispositioned to slide along a vertical axis about the mount 1460 and has,at its lower end, a three dimensional control module 1464 to provideuniversal joint motion with controlled preprogramed resistance betweenthe shaft 1458 and the shoe portion 1454. Thus the shaft 1458 may pivotin any direction about a point in the control module 1464 to permitmovement of the body with respect to the snow board during use.

The module 1464 is designed in the same manner as the module 1060 ofFIG. 63. In the alternative, it may include two two-dimensional controlmodules such as the control modules disclosed in connection with FIGS.74-76 mounted at right angles to each other so that one providespivotable action about an x-axis and the other provides pivotable actionabout a transverse y-axis. The pivoting may be resisted by apreprogrammed amount of resistance in the manner described above toreduce the probability of accidents while still permitting motion. Theresistance can be adjusted to provide firm support to permit weightshifting on the board but yield in some positions to avoid injury.

In FIG. 79, there is shown a standing exercise machine 1470 using thecontrol modules described above and having a stationary frame includingstationary members 1472A and 1472B adapted to rest upon a floor, apivotable frame including member 1471 and a shoulder and back frame1476. The pivotable frame member 1471 is a steel tube having across-section of a square and being shaped to form a rectangle pivotablyconnected to the staionary frame 1472 and to the shoulder and back frame1476.

The shoulder and back frame 1476 includes a back rest 1486 and right andleft shoulder hooks 1484A and 1484B mounted to the top of the flatpanel-like back rest 1486. With this arrangement, a person exercisingmay press his back against the flat panel-like back rest 1486 with theshoulder supports 1484A and 1484B respectively extending in curvilinearfashion over the right and left shoulder so that the backrest andshoulder support 1476 may move with the exerciser. The backrest 1476 isrelatively small having a vertical dimension of between six inches andfive feet so that it may bend with the back and not touch the floor whenstanding vertical in its normal position.

To permit twisting action, the shoulder and back rest 1476 is mounted tothe pivotable frame 1471 by a control module 1474. The control module1474 may provide a resistance program to provide preprogrammedresistance at different angles during a pivotable action of the framefor a person holding the back and shoulder rest and twisting the uppertorso.

To permit bending at the waist as an exercise, the pivotable frame 1471is pivotably mounted at a central location about waist high to thestationary frame 1472A and 1472B by control modules 1478A and 1478Brespectively to permit a person holding the shoulder rests 1484A and1484B to bend in an action such as touching the toes.

To permit arm exercises, a hand grip mechanism 1478A and 1478B arepositioned for right and left hands and mounted to the shoulder and backrest by control modules 1480A and 1480B so that a person may exercisetheir arms by pivoting them upwardly and downwardly.

To provide squatting motion, the twist frame is formed of rails 1475Aand 1475B which are slidably mounted to the back and shoulder support bysleeves on each side corresponding thereto and is mounted by controlmodules 1474A and 1474B and 1476A and 1476B to permit: the downwardmovement of the back and shoulder rest 1476 while a person standingwithin the mechanism bends the knee to perform squatting operationsupward and downwardly. The control modules may be adjusted as all ofthem to provide a controlled pattern of exercise.

In FIG. 80, there is shown a fragmentary, exploded, perspective view ofa brace in accordance with the invention having a two-side support 904A,which may for example be a tibia support similar to the tibia support ofFIG. 36, connecting the right and left sides of a brace together. Forthis purpose, the two-side support 904A includes a rigid interlockingbrace section 906A, a cushion section 908A and right and left sidesections 913A and 913B respectively.

The brace section 906A connects the right and left sides 913A and 913Bin position with respect to each other and enables the cushion section908A to be positioned to support body portion such as for example thetibia in position. For this purpose, the rigid portion 906A has aslidable fastener 910A, two threaded lock rings 915A and 915B, a splitferrule 1509, an internally threaded receiving socket 917, reduced shaftportion 1512 and a threaded, hollow base portion 906A. The reduced shaftportion 1512 fits within the threaded, hollow base portion 906A andforces the ferrule 1509 therebetween when the receiving socket 917 isthreaded onto the base portion 906A. The slidable fastener 910 may bemoved into a location to position the cushion section 908A and locked inplace with the threaded lock rings 915A and 915B.

The cushion section 908A is mounted to a downwardly extending portion ofthe lock 910 so as to be moved from place to place by the lock 910A forpositioning over the tibia. It includes a bottom cushion portion 1500and a top support 1502 that is rigid enough to hold the body part inplace with the cushion 1500 pressed against the skin of the patient. Anupwardly extending socket 1504 from the rigid support 1502 receives aball joint from the locking member 910A. It is pivotable thereabout butheld in place laterally and longitudinally. A threaded screw 1507 may beforced against the members 913A and 913B through an internally tappedopening such as shown at 1506 in the adapter 32L for attachment to abrace.

In FIG. 81, there is shown a side elevational view of the left sidesupport 913B having a first end 1508 with external threads thereon, aconnecting portion 1510 and a reduced diameter brace portion 1512. Thethreaded end 1508 is adapted to fit within an opening in the adapter fora brace where it is held by a threaded screw and supports the connectingportion 1510 which extends outwardly and curves inwardly to form thebrace portion.

The reduced diameter section 1512 is adapted to fit within the hollow,externally-threaded brace portion 919 to form an interfitting connectionfor the rigid center portion 906A of the brace. The internally-threadedreceiving socket 917 is positioned on the right side member 913B betweenthe reduced shaft portion 1502 and the connecting portion 1510 andincludes within it an internally-threaded recess 1514 for receiving theend of the externally threaded portion 919 of base portion 906A and areduced diameter recess that engages the end of the ferrule 1509anreduced dia between the reduced diameter portion 1512 and inner wallof the hollow portion 919 to lock the two together as the receivingsocket 917 is threaded onto the external threads of the hollow portion919.

In FIG. 82, there is shown a front elevational view of the right sidesupport 913B showing the central cylindrical shaft 1502 that fits withinand correspondingly sized opening in the left side member 1913A to formthe rigid center portion 906A, with the socket 917 at the opposite end.

In FIG. 83, there is shown an elevational view of the left side member913A having the externally threaded shaft 906A, an internal bore 1520extending longitudinally through the central axis of the section 906A, apair of slots in a plane perpendicular to the plane of the side member913A, one of which is shown at 1522, a connecting portion 1524 and anend mounting portion 1526 having a threaded end. The threaded end of theportion 1526 is inserted in the adapter and extends upwardly parallel tothe end 1508 with a connecting section providing a connection with theperpendicularly extending end 106A. The distance between the externalthreads 906 are also sized to engage the internally threaded cylinder917 which presses the ferrule 1526 between the shaft 1502 and theinternal bore 1522 to adjust the distance between the sides 913A and913B by holding the shaft firmly at a fixed location within the bore1520.

In FIG. 84, there is shown the positioning member 910A having acylindrical sleeve member 1530 which fits over the member 906A and ismovable thereon, a downwardly extending shaft 1532 and a ball 1534. Theball 1534 is fastened to the sleeve 1530 by the downwardly extendingrigid member 1532 and resides within the cushioned tibia support 908A.

In FIG. 85, there is shown an elevational view of the positinoing member908A, having a socket 1504 adapted to receive the ball 1534 movably soas to permit adjustment of the sleeve 908A laterally along the member906A by moving the slide 1530 therealong.

In FIG. 87 there is shown a top view of the tibia support 908A showingthe socket 1504 which receives the ball 1534 which it can be insertedwith pressure through its top and be locked in place. In FIG. 86, thereis shown an internally threaded one of the rings 915A which is identicalto the ring 915B. These narrow rings may be moved along the shaft 906Aby threading them. They are intended to tightly confine the sleeve 1530.

With this mechanism, as best shown in FIG. 80, the two sides 913A and913B may be inserted in apertures within the adapters 32L and 34L andheld in place by the detents being pressed against them. The sleeve 910may be positioned appropriately for the patient by threading the tworings 915A and 915B until the cushion 1500 is properly located. The twomembers 913A and 913B may be firmly fastened with the shaft 1502 withinthe bore 1520. The length may be adjusted and the two pulled togetherfor firmness by threading the internally threaded sleeve 917 on thethreads of the shaft 906A until the ferrule 1514 forms a tight frictionseal between the outside of the shaft 1502 and the inner wall of theopening 1520 so as to firmly hold the shaft 1502 within the opening at adistance which is appropriate for the length between the adapters 32Land 34L with the two sides 1526 and 1510 parallel to each other.

In FIG. 88, there is shown first and second lever arms 32K and 34Kfastened to first and second sections 26K and 28K respectively of a kneebrace. These two lever portions 32K and 34K have their respectivecentral disks 1530 and 1532 overlapping and interconnected to a controlmodule over a knee joint. A bolt of the control module 74K being shownin fragmentary form.

The lever portions are adapted to snap over the brace parts in a mannersimilar to that described with respect to FIGS. 46-49 except that asingle bolt holds the two snap on portions of the levers together, withthe bolt 1534 holding a first portion snapped over the brace part to asecond portion including the disk portion for the lever arm 32K and abolt 1536 holding together the two portions of the lever arm 34A overthe brace. Also, one of the two pairs of locks 1506 is shown engaging anend portion 913A (FIG. 80) to hold one side of the two side support 904A(FIG. 80) in place.

In FIG. 89, there is shown a block diagram of the microprocessor controlsystem 1538 having a microprocessor 1540, a combination cathode ray tubeand keyboard 1542, a printer 1544, a modem 1546, a pluraltiy of sensors1548A-1548F and a plurality of actuating devices 1550A-1550G. The CRTand keyboard combination 1542, the printer 1544, and the modem computerinterface 1546 are all electically connected to the microprocessor topermit the transmission of information into the microprocessor andreading out of information from the microprocessor either to a user at alocal station or at a remote station. The sensors 1548A-1548F sendsignals to the microprocessor representing: (1) positions of limbs abouta joint or other body parts about a joint; (2) conditions of the muscleas represented by myotonic electrical activity; and/or (3) timing ofactivities such as signals from external transducers indicating a footstriking a floor or a certain amount of acceleration of a body part or atemperature or the like from the environment.

The actuating devices 1550A-1550G may: (1) change resistance inaccordance with different recorded programs in the control modules beingused by the user and the position of the user; or (2) apply electricalmyographic signals or ultrasonic signals or heat or the like inconjunction with data in the microprocessor 1540 to which they areelectrically connected. The sensors 1548A-1548F supply signals to themicroprocessor 1540 which may be used to access data which can in turnbe used to control the actuators as to time or amplitude or the like.

To provide communication between the microprocessor and the operators, alocal station is provided with both display and entry means. For examplea cathode ray tube may display data from the microprocessor and data canbe entered by an operator through a keyboard although it can also beentered by tape or any other means. In the alternative, themicroprocessor may send information for a printout to a printer 1544.For remote printing or viewing or transmission of data to anothermicroprocessor or the like, a modem can be electrically connected sothat a remote user may share some of the activity involved in providingexercise or therapy or the like to a user.

In the preferred embodiment, the microprocessor 1540 includes amicroprocessor referred to as a smart block microprocessor core module,utilizing Z-world Engineering Z-180 microprocessor with two serialports, Motorola 6800 Peripheral Interface Drive, bus connector,time/date clock, watchdog timer and power fail detector. Themicroprocessor may be purchased from Z-world Engineering, 1724 PicassoAvenue, Davis, Calif. 95616.

To provide for muscular stimulation to strengthen a muscular motion at apredetermined time, the EMS activator 1550A, has electrodes which may beheld against the skin at one or more locations to stimulate selectivemuscles in a manner known in the art. This muscle stimulation may beutilized to strengthen muscles or to equalize muscle tone which areunequal in strengths on two sides of a body part such as the tibia.Thus, the patient may exercise without the leg being twisted by theunequal muscle strength or may walk with a brace or the like.

The stimulation of the muscle may be used alone and permit patients tobe ambulatory when they otherwise would not be ambulatory. Patientswhich are subject to knee buckling under certain conditions may have asignal applied at the proper time to avoid the knee buckling. Severalmuscles may be stimulated in a timed sequence which may be timed byevents such as a measured impact of thekind made by a heel striking afloor or a certain amount of stress being applied to a brace with acontrol module on it or the like. The signal for stimulation may becontrolled by more than one source such as for example particularpositions of bending a joint together with force on the joint orparticular myotonic electrical activity generated by muscle actioneither by itself or in conjunction with force or angular position or anyof the other sensing techniques.

The muscles may be stimulated in connection with varying the resistanceof the control module as described herein above. Thus at particularlevels of force or myotonic activity and joint position, either theresistance may be changed to provide additional support such asincreasing the resistance of a control module within a knee brace toavoid buckling of the knee under certain conditions either together withrecruiting additional muscle fiber through stimulation or as analternative to strengthening the muscle depending on a signal receivedfrom the muscle itself.

Thus the microprocessor together with sensors and actuators may controlresistance in the module to depend on the force needed to bend themodule, conditions such as the weight being placed on an externaltransducer, time from a particular impact such as a foot striking theground and signals which are generated by muscular activity. Thisresistance can be utilized to provide support, such as against kneebuckling or provide a controlled resistance curve for exercise. Theresistance may be mechanically programmed or may reside in a lookuptable of the microprocessor, addressed by the signals coming fromtransducers or may be calculated by the microprocessor in the case ofsome simple curves which are subject to calculation.

The transducer for providing electrical stimulation to the selectedmuscles may be any of several commercial units such as for example theRESPOND II model manufactured by Medtronic and available form Medtronic,Inc., 7000 Central Avenue N.E., Minneapolis, Minn. 55432, United Statesof America, although there are other commercial units that can be used.The technique of using electrical muscle stimulation either for exerciseor to aid handicapped persons in their movements is described innumerous publications such as "The Use of a Four Channel ElectricalStimulator as an Ambulatory Aid For Paraplegic Patients", Bajd, et al.,PHYSICAL THERAPY, volume 63, n7, July, 1983, pages 1116-11120;"Electrically Elecitated Co-Contraction of Thigh Musculature AfterAnterior Cruciate Ligment Surgery", Delitto, et al., PHYSICAL THERAPY,volume 68, n1, January, 1988, pages 45-50; and "Muscular StrengthDevelopmet by Electrical Stimulation in Healthy Individuals", Corrier,et al., PHYSICAL THERAPY, volume 63, n6, June, 1983, pages 915-920. Theconditions for application are discussed in detail in"Electrotherapeutic Terminology in Physical Therapy", by the Section onClinical Electrophysiology, American Physical Therapy Association, ISBNnumber 912452-77-3 available from the American Physical TherapyAssociation, 111 North Fairfax Street, Alexanderia, Va. 22314-1488.

The electrodes are generally positioned over the muscle within flatflexible fabric material approximately four inches by two inches withthe electrodes protruding from the bottom surface. They may be held inplace by bindings or any other suitable means such as straps or by beingattached to the brace. The pulse duration varies with circumstances butis generally within the range of one half of a microsecond to 750microseconds. The frequency may vary between a DC current up to afrequency of 750 pulses per second with a current in the range of one to50 miliampers and a voltage of between 50 to 300 volts. The particularpreferred voltages and currents are generally determined by theattending physical therapist or physician but typical ones are providedin the aforementioned manual on electrotherapeutic terminology.

The biofeedback transducers may be any of several known existing devicessuch as the Myotrac Rapic Scan transducers sold by Thought TechnologyLtd. availabe from Thought Technology Ltd., RR #1 Rt. 9N, #380 WestChazy, N.Y. 12992 or the Cyborg, EMG sold under the model numbers J53dual portable EMG and J33 portable EMG available from CyborgCorporation, 342 West Avenue, Boston, Mass. 02135.

To provide isolation between the biofeedback transducers 1548A and theEMS device 1550A, a two-position relay switch 1552 is controlled by themicroprocessor through a control signal on conductor 1554 to close therelay contacts against a conductor 1556 to the electronic muscle deviceto cause a high voltage signal to be applied at the time indicated bythe microprocessor 1540 at the selected frequency and power. In theabsence of a control signal on conductor 1554, a biofeedback signal fromthe unit for bio feedback 1548A is transmitted through a conductor 1558and the normally closed contacts of the relay switch 1552 to themicroprocessor through conductor 1560.

With this arrangement, signals may be periodically applied to the muscleto stimulate the muscle at the preprogrammed time such as when thebiofeedback signal indicates that muscle contraction is at its maximumto enable full use of a limb working against the control moduleresistance or to stimulate the muscle to continue walking together withsupport in the opposite direction from a control module or againstfurther resistance from the control module.

The external audio/visual devices 1550F may be monitors to be viewed bya therapist while exercise or therapy is being performed. They may be ascreen mounted to the back or to a belt of a patient or may beconnencted to a virtual reality head mask such as that shcwn in 1202 inFIG. 66 to provide sounds and three-dimensional views to be coordinatedwith exercise or training. A suitable description of the equipmentuseful in preparing the virtual reality display for use is provided in"Virtual Realty" in International Directory of Research Projects editedby Jeremy Thompson, JET Publishing, Aldershot, United Kingdom, ISBN0-88736-862-X.

In FIG. 90, there is shown a block diagram 1561 of a software programfor controlling a single plane control module comprising the start step1560 for decreasing the force by the maximum number of steps to obtain azero set point, the steps 1562 for fetching the appropriate data from adata lookup table within the memory of the computer and the steps 1564for sending pulses to the control module to reach the desired potential.Any of the electrically controlled control modules may be used such asthat shown in FIGS. 42-45 and FIGS. 74-76.

To obtain data from the microprocessor 1540 (FIG. 90), a series of steps1562 includes the sub routines including the step 1566 of reading theinput data port, the step 1568 of checking for valid data, the step 1570of determining if the data has changed and the step 1572 of calculatingor reading a data table for the incremental value needed for the newangle. The step 1566 causes an interrogation of the position of thesingle plane module from the control unit of the module. This readout,is compared with expected range of values in the decision step 1568 andif the value is not reasonable, the program goes back to step 1566. Ifit is then the decision block 1570 receives the data and compares it tothe last readout. If it is the same, the program again recirculates backto the step 1566. If there has been a change, the new address is used toread a data table to provide values for changing the resistance in thecontrol module and transmitting it to the series of step 1564.

To select the proper value, the incremental change called for by thesteps of the subroutine 1562 are applied to the decision step 1574,which determines if the resistance is higher or lower. If it is higher,a signal is sent to the step 1576 to calculate the number of increasedpulses to reach the proper level. These pulses are used in the step 1578to cause the stepping motor in the actuator to move to a new positionand thus provide a new resistance against movement in the controlmodule. On the other hand, if the resistance is lowered, a signal isapplied to step 1580 to calculate the pulses necessary to reach theproper level. This number is applied to the output decrease pulseterminal by the step 1582 to cause the lever arms to move to a newposition and thus reduce the resistance to movement by the user.

In FIG. 91, there is shown a flow diagram 1584 including the step 1586of reading a right or left side knee position sensor, the step 1588 ofmeasuring the heel pressure, the step 1590 of sensing the other of theright or left hand position sensors, the step 1592 of using the readingsreceived from the steps 1586, 1588 and 1590 to obtain a signal from alookup table in the microprocessor 1540, the step 1594 receiving thesignal from the microprocessor and varying the left side resistance, thestep 1596 of receiving the signal and varying the right side resistanceand the step 1598 of stimulating the muscle with an electrical signal,after which the loop is repeated to continue the steps so that themuscle is repeatedly stimulated at a predetermined frequency. The lookuptable may for some values provide a zero bite in its transmitted word sothat the right or the left side resistance modules may be unaltered orthey may be each altered at a different value and the muscle may or maynot be stimulated.

For example, some patients may have muscles in a knee which are notcapable of being electrically stimulated to greater strength. In such acase, the word transmitted from the lookup table will have a zero valuefor EMS stimulation but will have values for the right and leftresistance intended to keep the two resistances equal on each side of aknee brace but high enough so that the knee is prevented from buckling.On the other hand, there may only be a muscle stimulation signal forother patients. The particular values to be utilized will be determinedby the therapist and preprogrammed into the computer by testing thepatient ahead of time.

In FIG. 92, there is shown a program 1600 for changing the resistance inresponse to an EMG signal and a heel pressure signal only to detect themuscle condition such as maximum contraction during a walking operation.The program may then determine what values of resistance or stimulationshould be used from a lookup table.

The program 1600 includes the step 1602 of measuring the heel pressure,the step 1604 of measuring the electrical myographic activity, the step1606 of looking up a control word or sequence of words based onaddresses from the steps 1602 and 1604, varying one of the right or leftside resistances shown at step 1608, the step 1610 varying the other ofthe right or left side resistances and the step 1602 of stimulating themuscle. Again, the control word selected may have zero values for any ofthe resistances to be varied or the muscle stimulation electrical signalto be applied in accordance with the prerecorded information provided bythe therapist. Thus, this program may be used for an exercise routinethat enables a patient to walk when the patient otherwise would nct beable to walk. This system may provide the timing of the stimulatingsignals in response to both a signal from the muscle indicating amaximum value and a timed position from the pressure transducerindicating where the portion of a step by the patient that is takingplace.

In FIG. 93, there is shown a program 1614 including the steps 1616 of:(1) sensing the pressure on a body part or other relevant sensed force such as heel pressure or acceleration of movement of a body part; (2)applying signals in response thereto and the steps 1618 of: (1)controling the time-resistance pattern applied by control modules, andif appropriate, the time of application of muscle stimulating electricalsignals.

With this arrangement, both resistance and timing of a stimulatingsignal may be controlled by the amo u ant of pressure applied to a knee,the pressure applied to a heel or the like indicating motion. Thus,twisting motions, such as those of a patient having a weakened patella,may be detected and corrected for by stimulating the weakened muscle andthus providing equal pressure and/or changing the resistances on eachside.

To obtain control words for controlling the timing of and the amount ofa muscle stimulation and the variations in the resistance, the group ofprogram steps 1616 includes the step 1622 of sensing the position of oneside of a body part such as a knee, the step 1626 of sensing theposition of the other side of the body part, the step 1624 of sensingheel pressure, the step 1620 of sensing the pressure on one of the twosides of the body parts and the step 1628 of sensing the pressure on theother of the two body parts. This same arrangement may be used to sensethe condition of two body parts such as two legs but an additional heelsensor would be included.

This information is applied to the group of steps 1618 which in turnresponds with control words to stimulate muscles and/or to vary theappropriate resistances of a control module. The group of steps 1618 forthis purpose includes: (1) the step 1630 of looking up in theprerecorded lookup table in the internal memory of the microprocessor1540 the control words called for and preprogrammed by the therapist andapplying the control words sequentially to the control modules; and (2)the resulting sequence of steps 1632, 1634 and 1636 setting the amountof resistance on any of the right or the left side and the nature of anymuscle stimulation that is to be applied.

In FIG. 94, there is shown a flow diagram of a program 1638 forcontrolling the amount and timing of resistance changes and musclestimulation based on biofeedback from the muscle electrical activity,heel pressure and pressure on the knee braces. For this purpose, theprogram 1638 includes a group of program steps 1648 for making theappropriate measurements and steps 1650 for determining the necessarychanges in resistance, making the changes in resistance and providingstimulation for the muscles.

To provide the appropriate measurement data, the group of steps 1648includes the step 1642 of measuring the heel pressure, the step 1644 ofmeasuring muscle electrical activity, the step 1640 of measuring kneepressure on one side and the step 1646 of measuring torque pressure onthe other knee. These signals are applied to the group of steps 1650 tomake the appropriate corrections.

The group of steps 1650 includes the step 1652 of looking up controlwords in a control table based on electrical myographic values andpressure values and applying them to vary the resistance on the right orleft side of the braces and stimulate muscles as shown by the sequenceof steps 1654, 1656 and 1658.

In FIG. 95, there is shown a perspective view of exercise or bracingapparatus 10A having an upper brace part 26C and a lower brace part 28Cconnected at joints 16N and 16M to form two sides of a brace such as aknee brace. The two sides of the brace are connected together by a tibiasupport 904B similar to that described in FIG. 80. At the bottom of thebrace intended to be positioned on the foot is a transducer 1548F suchas that described in FIG. 99 for providing indications of walking. Thetransducer may be a pressure transducer embedded in a relatively softcushion material. The transducer itself may be as described inconnection with FIG. 89.

In FIG. 96, there is shown a fragmentary, simplified view of a leg 1550having electrodes 1552, 1554, 1556, 1558 and 1560 positioned on the legfor measurement and for stimulation. The positions and the electrodesthemselves are conventional and generally include sockets on the topsurface for pin connectors, with the electrode 1552 including one socketfor application of a negative potential used for stimulation over thefemoral nerve, the electrode 1554 including three sockets formeasurement of electrical myographic signals, the electrode 1556including two sockets for positive potential used for stimulationlocated midway between the vastus medialis oblique muscle and the hipcrease, the electrode 1558 including three sockets for measurement ofelectrical myographic signals in cooperation with the electrode 1554 andthe electrode 1560 including one socket for application of negativepotential over the vastus medialis oblique muscle in cooperation withthe positive electrode 1556 and the other negative electrode 1552.

In FIGS. 97 and 98, there is shown two simplified exploded perspectiveviews of another embodiment of control module 16P having a lower arm34P, a shaft 74P, a shaft connector 73P, an upper arm 32P, aone-direction lifter plate 80P, a urethane pressure pad 30P, a disk 82Pand an adjustable nut 70P. The module 16P is small in size and providesprogrammed resistance to motion in one direction. For this purpose, itincludes lifting plates which are engaged in one direction and not theother. It is compact because of the location and combination ofresistance programs with other members.

As best shown in FIG. 97, the adjustment nut 70P is threaded onto theend of the shaft or bolt 74P and may be tightened to provide acalibrated amount of pressure and resistance to movement in onedirection. Indicia may be provided on the adjustment not the pressure.

The disk 82P is keyed to a portion of the shaft 72 within itslongitudinal slot 316A to rotate with a lower arm 34P and with theadjustment nut 70P but to move with respect to the disk urethanefriction 30P, the lifter 80P and the upper arm 32P. The lower lifterplate 82P is formed integrally with the upper arm 32P as best shown inFIG. 98 and includes a plurality of ramps some of which are indicated atramps 91P and 97P. The upper lift plate 80P also includes a plurality oframps best shown in FIG. 97 indicated at 350P. The ramps in the twolifter plates face each other so the ramps, such as for example 91P and97P in the lift plate 82P (FIG. 98) face the ramps such as the ramp 350Pon the upper lifter plate 80P (FIG. 97).

The program section 60P is integrally formed with the upper surface ofthe lower arm 34P and includes the program resistance sections 61P (FIG.98) and the read section is integrally formed on the lower surface ofthe upper arm 32P and includes read bumps 801P. With this arrangement,when the ramps of the upper and lower lifter plates are engaged whenrotating in one direction, read bumps 801P integrally formed on thelower surface of the upper arm 32P move against corresponding ones ofthe programs 61P to provide a programmed resistance to movement asdescribed better in connection with the embodiment of FIG. 19 when thelevers are moved in one direction with respect to each other. Whenrotating in the other direction, the ramps are disengaged so thatfriction is reduced.

In FIG. 99, there is shown a simplified, perspective fragmentary view ofstill another embodiment of module 16R intended to provide a program inonly one direction but not requiring ramps or lift plates. As shown inthis embodiment, the lower arm 34R, the bolt or shaft 74R, the upper arm32R, the polyurethane resistance disk 30R, the keyed disk 82R and theadjustment nut 70R are positioned in substantially the same manner asthe embodiment of FIGS. 97 and 98, with read bumps 801R on the lowerportion of the upper arm 32R positioned to engage programs as the upperand lower arm move with respect to each other. In these embodiments asin others, the adjustment nut 70R threads onto the top of the bolt orshaft 74A to press downwardly against the slidable keyed disk 82R andthe polyurethane pad 30R to supply controlled pressure for the readoperation.

In FIG. 100, there is shown a similar arrangement with the lower arm 34Rhaving the programs 61R positioned to engage the read bumps 801R (FIG.99) as the upper and lower arms 32R and 34R rotate with respect to eachother under a controlled biased pressure supplied by the adjustment 70R,the keyed disk 82R and the polyurethane disk 30R. However, theattachment 73R for the bolt 74R to the lower arm 34R is a one-way clutch73R. This clutch permits the shaft 74R to rotate in one direction butholds it in the other direction so that the keyed pad 82R rotates withrespect to the upper arm 32R as the lower arm 34R engages the keyopening 316R and moves with respect to the shaft when the clutch islocked but permits the shaft 34R and the keyed disk 82R to rotate freelywhen the clutch is unlocked and the levers are moving with respect toeach other in the opposite direction.

When the disk 82R does not move with respect to the speed bumps 801R,there is less pressure as the speed bumps move with respect to theprograms 61R and friction is reduced because the polyurethane resistivepad 30R is not moved between the upper surface of the upper arm 32R andthe lower surface of the disk 82R but instead moves as a single unitwith the arm 32R and the rotatable disk 82R as the shaft 74R rotateswithin the one-way clutch 73R. The one-way clutch 73R may be anysuitable commercial model including the one-way clutches sold under thetrademark, MINI-CLUTCH, by High Prescision, Inc., 375 Morse Street,Hamden, Conn. 06517.

From the above description, it can be understood that the exercisedevice of this invention has several advantages, such as: (1) it canprovide timed controlled resistance to movement in either direction; (2)it may be easily snapped onto existing braces to provide a controlledprogram of therapy without the need for expensive equipment; (3) it canprovide a controlled and contoured resistance which depends on theposition of the limb; (4) the controlled programs of resistance may betailored to the individual and controlled by inserts into the exerciser.

While a preferred embodiment of the invention has been described withsome particularity, many modifications and variations in the preferredembodiment can be made without deviating from the invention. Therefore,it can be understood that within the scope of the appended claims theinvention can be practiced other than as specifically described.

What is claimed is:
 1. An exercise device comprising:a first memberadapted to be connected to one limb about a joint; a second memberadapted to be connected to another limb connected to the same joint asthe one limb wherein the first and second members articulate about thejoint; a module connecting the first and second members and controllingthe force necessary to articulate the first and second members; saidmodule including a braking means, a feedback means and friction meansfor resisting movement of the first and second members with a frictionalforce independent of speed of movement which frictional force is variedby said braking means; said feedback means including means forenergizing and de-energizing the braking means at the different anglesbetween the first and second members, wherein the braking means iscontrolled by the position of the first and second limbs to provide fora first series of first periods of time having a first frictional forceand a series of second periods of time having a second frictional forceduring which second periods of time each of the limbs can be moved; thefirst periods of time being separated from each other by said secondperiods of time.
 2. An exercise device in accordance with claim 1further including a timing means whereby the times the braking means isenergized and de-energized is controlled so that it is energized toprovide a braking operation at a predetermined series of anglescorresponding to different amounts of flexion and means for controllinga time duration during which the braking means is energized under thecontrol of the timing means.
 3. A device according to claim 1 furtherincluding:connecting means between the module and at least one of saidfirst and second members, whereby the resistance to movement of thefirst and second members with respect to each other about said module isangular movement; said connecting means including means for permittingmovement between said module and said one of said first and secondmembers in a linear direction, whereby an eccentric movement of saidfirst and second members with respect to each other about a joint of theperson may be accommodated.
 4. A device according to claim 1 furtherincluding means for reducing ortho-kinetic joint movement discord; saidmeans for reducing ortho-kinetic joint disorder being connected to saidfirst and second members adjacent to said module and including means forvarying the resistance to movement of the first and second members withrespect to each other about said module.